How to go in recovery mode on 6S?

I just received my silver 64 GB iPhone 6S in the mail today and I set it up and everything as a new iPhone because I wanted to start fresh. One of the steps was to make a 6-digit passcode which I did along side setting up touch ID. I then tried to unlock it only to forget the passcode so it disabled the iPhone and now every time i try to unlock it with touch id, it still tries to make me type in the passcode that I obviously forgot. I went on apple and saw the steps to delete everything off your iPhone using recovery mode so you can use it again and i followed them only to find that when it actually tries to restore it an error message pops up EVERY time! I also tried doing the iCloud thing but my phone can't connect to the internet because its disabled. Someone please help me this is really frustrating!