Cisco router IPv6

Hello Everyone, 

If there are anyone who know how to configure IPv6 on a Cisco router, please help me. I am getting this error from the command line when I try typing in "ipv6 address prefix-from-Cox 10::1/72"

here is my WAN configuration:

interface GigabitEthernet0/2
description PrimaryWANDesc_
ip address dhcp
ip flow monitor NTAMonitor input
ip flow monitor NTAMonitor output
ip nat outside
ip virtual-reassembly in
duplex auto
speed auto
ipv6 address dhcp
ipv6 address autoconfig default
ipv6 dhcp client pd hint ::/48
ipv6 dhcp client pd prefix-from-Cox
end

LAN side:

interface GigabitEthernet0/0.10
encapsulation dot1Q 10
ip address 172.16.10.2 255.255.255.0
ip helper-address 172.16.30.254
ip nbar protocol-discovery
ip flow monitor NTAMonitor input
ip flow monitor NTAMonitor output
ip pim dense-mode
ip nat inside
ip virtual-reassembly in
standby version 2
standby 10 ip 172.16.10.1
standby 10 priority 20
standby 10 preempt
standby 10 track 1 decrement 10
standby 101 preempt
ip igmp version 3
!
interface GigabitEthernet0/0.20
encapsulation dot1Q 20
ip address 172.16.20.2 255.255.255.0
ip helper-address 172.16.30.254
ip nbar protocol-discovery
ip flow monitor NTAMonitor input
ip flow monitor NTAMonitor output
ip pim dense-mode
standby version 2
standby 20 ip 172.16.20.1
standby 20 priority 20
standby 20 preempt
standby 20 track 1 decrement 10
ip igmp version 3
!
interface GigabitEthernet0/0.30
encapsulation dot1Q 30
ip address 172.16.30.2 255.255.255.0
ip nbar protocol-discovery
ip flow monitor NTAMonitor input
ip flow monitor NTAMonitor output
ip pim dense-mode
ip nat inside
ip virtual-reassembly in
standby version 2
standby 30 ip 172.16.30.1
standby 30 priority 20
standby 30 preempt
standby 30 track 1 decrement 10
ip igmp version 3
!
interface GigabitEthernet0/0.40
encapsulation dot1Q 40
ip address 172.16.40.2 255.255.255.0
ip nbar protocol-discovery
ip flow monitor NTAMonitor input
ip flow monitor NTAMonitor output
ip pim dense-mode
standby version 2
standby 40 ip 172.16.40.1
standby 40 priority 20
standby 40 preempt
standby 40 track 1 decrement 10
ip igmp version 3
!
interface GigabitEthernet0/0.75
encapsulation dot1Q 75
ip address 172.16.75.2 255.255.255.0
ip helper-address 172.16.30.254
ip nbar protocol-discovery
ip flow monitor NTAMonitor input
ip flow monitor NTAMonitor output
ip pim dense-mode
ip nat inside
ip virtual-reassembly in
standby version 2
standby 75 ip 172.16.75.1
standby 75 priority 20
standby 75 preempt
standby 75 track 1 decrement 10
ip igmp version 3
!
interface GigabitEthernet0/0.100
encapsulation dot1Q 100
ip address 172.16.100.2 255.255.255.0
ip helper-address 172.16.30.254
ip nbar protocol-discovery
ip flow monitor NTAMonitor input
ip flow monitor NTAMonitor output
ip pim dense-mode
ip nat inside
ip virtual-reassembly in
standby version 2
standby 100 ip 172.16.100.1
standby 100 priority 20
standby 100 preempt
standby 100 track 1 decrement 10
ip igmp version 3