Your tool of choice here will be the following equation
$"% error" = (|"accepted value " - " measured value"|)/"accepted value" * 100%$
So what you're looking for here is the absolute value of the difference between the accepted value and the measured value expressed as a percentage of the accepted value.
In your case, you have
$"accepted value" = "1.62 g cm"^(-3)$ $"measured value" = "1.37 g cm"^(-3)$
Plug this in the equation to get
$"% error" = (|(1.62 - 1.37)color(red)(cancel(color(black)("g cm"^(-3))))|)/(1.62color(red)(cancel(color(black)("g cm"^(-3))))) * 100%$
$color(darkgreen)(ul(color(black)("% error" = 15.4%)))$
The answer is rounded to three .