Append below lines in /etc/sysctl.conf:

net.ipv6.conf.all.disable_ipv6 = 1
net.ipv6.conf.default.disable_ipv6 = 1

NOTE : To disable IPv6 on a single interface add below lines to /etc/sysctl.conf :
net.ipv6.conf.[interface].disable_ipv6 = 1 ### put interface name here [interface]
net.ipv6.conf.default.disable_ipv6 = 1

To make the settings affective, execute :

# sysctl -p
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