My provider doesn't have good documentation on configuring IPv6, so I had to figure out by trial and error.
In this video, I will guide you through you I set IPv6 for my DSL connection via PPPoE on pfSense, covering:
WAN interface configuration
setting IPv6 via IPv4 connectivity link
LAN interface configuration track interface mode
setting IPv6 prefix ID for a VLAN
DHCPv6 vs. stateless configuration for the LAN
Prefix delegation
Router advertisement modes