To get the first $6$ on the $n$th roll, the first $n-1$ rolls must not be $6$, and the $n$th roll must be $6$.
So, $P(X=n) = (1-p)^{n-1}p$, for $n=1,2,3,\dots$
$\therefore E[X] = \sum_{n=1}^{\infty} nP(X=n)$
$= \sum_{n=1}^{\infty} n(1-p)^{n-1}p$
This is the expectation of a geometric random variable with parameter $p$. We know that
$E[X] = \frac{1}{p}$
Thus, the expected number of rolls required to get the first $6$ is $\boxed{\frac{1}{p}}$
So the correct option is A.