How to upgrade from mysql5.1 to mysql5.6 in RHEL 6?

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Issue

Currently, our server has mysql5.1. I wish to install, maintain mysql5.6 on the same server. I also hope to migrate the data over.
How to upgrade from mysql 5.1 to mysql 5.6 ?

Environment

Red Hat Enterprise Linux 6.6
mysql upgrade
test environment which will be moved later to prod.

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