if we would like to continue id from the last id, how could do this
Since that isn't at all what auto_increment is trying to do, the answer is you are on your own. It's not at all difficult to get what you want, mind you, but merely performance-killing:
[in pseudocode]
lock table(s)
query for the max value of the ID column
retrieve that value
insert the new row using ID+1
unlock table(s)
And note that this does nothing for reusing ID's that are freed by deleting rows from the middle of the table. I won't bother showing that one because it's far worse than the simple case above.