Both ARP and RARP are address resolution protols (RARP is a variant of ARP). The are needed because IP uses logical host addresses (IP addresses) while media access control (Ethernet, Token-Ring, FDDI etc.) needs MAC addresses.
ARP is used to resolve the ethernet address of a NIC from an IP address in order to construct an ethernet packet around an IP data packet. This must happen in order to send any data across the network. RARP is used for diskless computers to determine their IP address using the network.
ARP maps logical address to physical address. while RARP maps physical to logical address . by mapping, i mean to say that first one is used to extract the other one in the network. however, RARP is nowadays replaced by DHCP