Apple watch3 keeps asking for my apple ID password after watch OS6 update

So now my watch constantly asks for Apple ID password. When I enter it, I recieve message that "A message with a verification code has been sent to your other devices iOS 9 or OS X El Capitan or later. Enter the code to continue" This never happens. Mac Mini 2018 fully updated, IPad Pro up to date, iPhone 7 iOS 13.1.2

This message that Watch needs my password is persistant and will not go away. Can't even check the time without the message first.