Six-years old is a little late, but the same applies as to four-year olds.
The bike should be low enough that they can sit on the seat and plant their feet on the ground. Remove the training wheels and let the kid loose. They'll push themselves around for a bit and start using the pedals as soon as they feel confident and balanced. Watch them but don't help, don't touch, probably a good idea not to talk either. Let them figure it out.
For my kids and grandkids, it took less than an hour before they were pedalling around like pros.
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