Before you start, you have to ensure that the IPv6 is installed to the machine. In order to connect to the machine, you also need to install IPv6 on your own PC.
ssh [your_username]@[your_IP]
If you have installed IPv6(XXX HowTo Install IPv6 inside the VM) and ssh server (apt install openssh-server) inside your VM, you can now access it with the command.
apt install openssh-server