Apple pencil 2 on ipad 6

no

Compatible with

• iPad Pro 12.9-inch (3rd and 4th generation)
• iPad Pro 11-inch (1st and 2nd generation)

https://www.apple.com/apple-pencil/

No.

You need to purchase the original,1st gen Apple Pencil with the silver.chromed, metalised band/camp near the top of the Pencil.

Actually there’s no way to do as apple has designed particular pencil for each generation of iPad

not compatible