Deploying ultra-dense small-cell base stations in the next-generation mobile networks is one of the most expected approaches to overcome the uncertainty of millimeter wave (mm wave) communications. Mobility management is a critical issue that requires much concern to achieve seamless and highly reliable connection through user mobility. Handover in heterogeneous networks (HetNets) has gained attention, especially when 5G ultra dense small cells coexist with the current 4G networks. Handover failure is one of the main issues in mobility, and it can be avoided by adjusting handover control parameters (IICPs): time-to-trigger (TTT) and handover margin (ROM). In this paper, we proposed dynamic HCPs in HetNets (LTE-A and mm-wave networks) with dense small cells. The proposed algorithm was compared with different settings of IICPs for different user mobile speed scenarios. The simulation results show that the proposed algorithm significantly reduces the probability of ping pong handovers and radio link failure, thus improving network performance.