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/

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

No.

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

not compatible