After reviewing this article https://docs.aws.amazon.com/AmazonRDS/latest/UserGuide/USER_WorkingWithParamGroups.html I understand what I have to do and how.
Here are the following steps.
1) Go to RDS page and click on "Parameter groups" text located in the left navigation.
2) Now create a new group by clicking on "Create parameter group" orange button.
3) Fillup parameter group form "Parameter group family" should be MySql version of your RDS instance than "Group name" and "Description" whatever you want.
4) New "Parameter group" was created as "test" now edit it and increase "max-allowed-packet" by entering "10000000" (10 MB) value should be in Bytes after entering value don't forgot to click on "Save changes" button and make sure value is between 1024 Bytes to 1073741824 Bytes (1073 MB)
5) Now you can see your changes by click on "Preview changes" button.
6) Now we have to change "Parameter group" of our RDS instance. SO, modify an instance and select "Parameter groups" which we created.
7) Now after modify RDS instance you should to Reboot it to apply your changes.