IPV6 get mac(NDP)

You want to use the neigh function of the ip command to show IPv6 neighbours, like so:

$ ip -6 neigh
fe80::200:ff:fe00:0 dev eth0 lladdr 00:0e:54:24:23:21 router REACHABLE
fe80::202:b0ff:fe01:2abe dev eth0 lladdr 00:02:b0:02:2a:be DELAY

(Pro tip: you can leave the -6 off and view IPv4 ARP as well as IPv6 ND in the same list.)

Also, if you want to find out the MAC addresses of all the IPv6 machines on the LAN, and not justthose you already know about, you should ping them first, then look for neighbours:

$ ping6 ff02::1%eth0
64 bytes from fe80::221:84ff:fe42:86ef: icmp_seq=1 ttl=64 time=0.053 ms # <-- you
64 bytes from fe80::200:ff:fe00:0: icmp_seq=1 ttl=64 time=2.37 ms (DUP!)
64 bytes from fe80::202:b0ff:fe01:2abe: icmp_seq=1 ttl=64 time=2.38 ms (DUP!)
64 bytes from fe80::215:abff:fe63:f6fa: icmp_seq=1 ttl=64 time=2.66 ms (DUP!)

$ ip -6 neigh
fe80::200:ff:fe00:0 dev eth0 lladdr 00:0e:54:24:23:21 router REACHABLE
fe80::202:b0ff:fe01:2abe dev eth0 lladdr 00:02:b0:02:2a:be DELAY
fe80::215:abff:fe63:f6fa dev eth0 lladdr 00:02:15:ab:f6:fa DELAY # <-- a new one!