  Based on relativistic mean field (RMF) models, we study finite
$\Lambda$-hypernuclei and massive neutron stars. The effective $N$-$N$
interactions PK1 and TM1 are adopted, while the $N$-$\Lambda$ interactions are
constrained by reproducing the binding energy of $\Lambda$-hyperon at $1s$
orbit of $^{40}_{\Lambda}$Ca. It is found that the $\Lambda$-meson couplings
follow a simple relation, indicating a fixed $\Lambda$ potential well for
symmetric nuclear matter at saturation densities, i.e., around $V_{\Lambda} =
-29.786$ MeV. With those interactions, a large mass range of
$\Lambda$-hypernuclei can be well described. Furthermore, the masses of PSR
J1614-2230 and PSR J0348+0432 can be attained adopting the $\Lambda$-meson
couplings $g_{\sigma\Lambda}/g_{\sigma N}\gtrsim 0.73$,
$g_{\omega\Lambda}/g_{\omega N}\gtrsim 0.80$ for PK1 and
$g_{\sigma\Lambda}/g_{\sigma N}\gtrsim 0.81$, $g_{\omega\Lambda}/g_{\omega
N}\gtrsim 0.90$ for TM1, respectively. This resolves the Hyperon Puzzle without
introducing any additional degrees of freedom.
