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You need to purchase an MHL cable and then use it to connect your S6 to your TV.
Just Plug n play. You can play your mobile games on the big screen, while charging your phone at the same time.
Click on the above blue link to see how to connect the MHL cable to your phone.
You can play music, watch videos, movies etc.
I am sorry just an update..
Your TV supports the MHL connection but your phone s6 doesn't.
Unfortunately, I am sorry to say Samsung have dropped all MHL and Miracast support with the Galaxy S6 or S6 Edge, so sadly these options are not available.
But we have other options.
Please let me know if you want to play only music from your phone to your TV or mirror your Samsung Galaxy S6 to TV.