Put lambda in VPC and subnet

Question

I have lambda function which needs to access RDS in isolated private subnet.

And lambda function also need to access internet endpoint and be invoked from internet.

In this case,

• put lambda in private subnet (with Nat gateway)

• lambda can access internet from nat gateway

However ,,, is it possible to invoke lambda function in private subnet from internet?

(I can set API gateway to the lambda in private subnet?)