Over the past few years, a large family of manifold learning algorithms have been proposed, and applied to various applications. While designing new manifold learning algorithms has attracted much research attention, fewer research efforts have been focused on out-of-sample extrapolation of learned manifold. In this paper, we propose a novel algorithm of manifold learning. The proposed algorithm, namely Local and Global Regressive Mapping (LGRM), employs local regression models to grasp the manifold structure. We additionally impose a global regression term as regularization to learn a model for out-of-sample data extrapolation. Based on the algorithm, we propose a new manifold learning framework. Our framework can be applied to any manifold learning algorithms to simultaneously learn the low dimensional embedding of the training data and a model which provides explicit mapping of the out-of-sample data to the learned manifold. Experiments demonstrate that the proposed framework uncover the manifold structure precisely and can be freely applied to unseen data.