Will Apple Pencil 1st generation work with iPad mini 6 generation

Sorry no, as per this compatibility list:--> Apple Pencil compatibility - Apple Support

That model requires an Apple Pencil 2nd generation.

Regards

Giulio

Absolutely not.

Tne new iPad Mini 6th gen uses the latest 2nd gen Pencil as it magnetises and charges along one of the long sides of this iPad model, as clearly shown here.