Allocating from previous unallocated id in table?

Allocating old id's to new row added in a table. For example:

id | name
1  | n1
2  | n2
3  | n3
4  | n4

So if I delete row with id = 2,table will look like

id | name
1  | n1
3  | n3
4  | n4

Now I add another row, For this row is it possible that id = 2 is alloted in mysql. I can make a java program in which I find all missing id's between 1 to (highest id alloted) in table and giving one of those missing id to the new row.

Is it possible to do it in mysql. Here 'id' is primary key.