You are confusing two different concepts here.
Let's deal with megapixels first. A 6.0Mp image is a matrix of individual 'dots.' The number of individual dots is the number of dots in a row times the number of dots in a column. In the case of 6Mp, the rows are about 3000 dots long and the columns about 2000 dots high ['landscape' image.]
That's the image your camera takes and stores on the chip.
When you print out an image, the printer creates an image of dots, too. This is usually stated simply as dots per inch for each line printed. It depends on the printer and the 'quality' level selected for the print.
So far, so good.
If you print out a picture from your camera, and if it was taken at the 3000x2000 pixel setting [maximum definition], and if you print it as a 10 inch wide by 6.666 inch high print, and if you use a 300 dot per inch [DPI] printer, each 'dot' in the image will be represented by one 'dot' in the printed image. [10 inches x 300 DPI = 3000 'dots.'] This is the maximum definition you can get from the original stored image. A print larger than this will spread the detail out to make up for the larger image.
If you print out a picture from your camera, and if it was taken at the 3000x2000 pixel setting [maximum definition], and if you print it as a 5 inch wide by 3.333 inch high print, and if you use a 300 dot per inch [DPI] printer, every four 'dots' in the image will be represented by one 'dot' in the printed image. That's 4 dots, not 2. That's because you've also compressed the height as well as the width of the print. The print will be 'sharp', but some detail has now been 'averaged' out of the image.
That should be enough to get you started. Mull it over, and then ask again if you need further information.