A slightly simpler recursive derivation is this. We must roll the die at least once. On the first roll we get a 6 with probability $\frac{1}{6}$. Otherwise we start again. Hence, $E = 1 + \frac{5}{6}E$, which gives $E=6$.
Here is a more general answer:
Regard rolling the die as a Bernoulli process $X_1,X_2, \ldots$, where $X_i = $ Success, with probability $p$, and $X_i = $ Failure, with probability $1-p$. The process stops after the first success.
Let $N_s$ be the length of the sequence until the first Success. This is a random integer. Then we have
$$
\Pr (N_s=k) = \Pr(\underbrace{FF\cdots F}_{k-1}\ S) =
\underbrace{(1-p)(1-p)\cdots(1-p)}_{k-1}\ p=(1-p)^{k-1}p=pq^{k-1},
$$
where $q=1-p$ and $k\ge1$. This is called a Geometric Distribution,
which is the discrete equivalent of the Exponential Distribution. Random variables with these distributions are called memoryless. (See Ross, Introduction to Probability Models, 9th Edition, page 284.)
The expected value and variance of $N_s \sim \text{Geom}(p)$ are
$$
\text{E}{N_s(p)}=\frac{1}{p}, \text{ and } \text{Var}{N_s(p)} = \frac{1-p}{p^2}.
$$Proof can be found in Ross, above. Note that $$\text{E}{N_s(p)} = 1 +(1-p)\text{E}{N_s(p)}, \text{ whose solution is } \frac{1}{p}.$$
In your case $p = \frac{1}{6}\,$ and so E(No. rolls) = 6, and Var(No. rolls) = 30 -- Geom$(\frac{1}{6})$ has a long tail.