It might be better to have a look at the edit at first.
Let $\nu_{k}$ denote the expectation of the number of rolls still needed after the first roll under the extra condition that the first roll provides number $k\in\left\{ 1,2,3,4,5,6\right\} $.
If $\mu$ denotes the expectation then: $$\mu=1+\frac{1}{6}\sum_{k=1}^{6}\nu_{k}\tag1$$
For every $k\in\left\{ 1,2,3,4,5,6\right\} $ we have: $$\nu_{k}=\frac{k-1}{6}\cdot1+\frac{1}{6}\sum_{i=k}^{6}\left(1+\nu_{i}\right)=1+\frac{1}{6}\sum_{i=k}^{6}\nu_{i}$$Or fading away the fractions:$$6\nu_{k}=6+\sum_{i=k}^{6}\nu_{i}$$
These equations enable us to find $\nu_1,\dots,\nu_6$ and eventually $\mu$.
We can start at the bottom with $6\nu_6=6+\nu_6$ leading to $\nu_6=\frac{6}5$.
We can find that $5\nu_{k-1}=6\nu_k$ for $k=6,5,4,3,2$ by means of:
$$6\nu_{k-1}=6+\sum_{i=k-1}^{6}\nu_{i}\implies5\nu_{k-1}=6+\sum_{i=k}^{6}\nu_{i}=6\nu_{k}$$
These facts together lead to: $$\nu_k=\left(\frac65\right)^{7-k}\tag2$$
so that: $$\mu=1+\frac16\sum_{k=1}^6\left(\frac65\right)^{7-k}=1+\frac16\sum_{k=1}^6\left(\frac65\right)^{k}=\left(\frac65\right)^6\approx2.985984$$
Btw, this nice outcome makes me suspect that there is a more elegant route to the result.
Edit:
The answer can be simplified.
This because $(1)$ can be interchanged by the more simple:$$\mu=\nu_1\tag3$$ Then we are ready as soon as we have reached $(2)$:$$\mu=\nu_1=\left(\frac65\right)^{7-1}=\left(\frac65\right)^{6}$$
The (annoying) summation can be left out.