As I'm sure you are aware, the settings are extremely ISP-dependent. If you know all the individual addresses, you can configure them directly in the router and do not need to rely on either PPP IPCP / IPv6CP or DHCPv6 or a mixture of both, but the various options are many, because, if the numbers are not known in advance, the dynamic information may be obtained by a mixture of these two protocols, and there's no knowing in general which of the possible methods are required.
However your router has obtained DNS server settings info, hand configuration being the easiest for a non-movable router, there are choices about how your router can publish info about DNS servers to the boxes on your network. Ask for help on this. (See the O option, and M option in router advertisements, also DHCPv6.)
IPv6 can be confusing because of the use of new names on occasion for functions that, despite radical improvements, could have simply kept the old names but with a v6 stuck on the end. ARP being renamed NDP, being one example. We will all get used to the new vastly improved protocols and zero config and the new terminology. (Although I do have to say that there are new security problems with IPv6 and its zeroconfig.)
