NAT IPv6 to IPv4 is referred to as NAT64, replaced NAT-PT in RFC 6144. NAT64 and DNS64 was created to allow an IPv6 only client to initiate communications to an IPv4 only server. This can be accomplished using manual or static binding.
Translation in NAT64 is performed using IP header translation and IP address translatin between IPv6 and IPv4 using algorithms in RFC 6145 and RFC 6052.
One method of interconnecting IPv6 and IPv4 networks is called Network Address Translation-Protocol Translation by implementing this feature at all boundry routers, NAT-Pt translates between IPv6 and IPv4 addresses to communicate with hosts on different networks without the need to run dual stack environments.
Static address assignment is also available as well.
DHCPv6 provides a stateful means of managing and distributing IPv6 addresses to clients dynamically.
IPv6 has a stateless method of address assignment as well that does not require a DHCP server to distribute or manage IPs called Stateless Address Auto Configuration (SLAAC)
SLAAC primarily uses RAs to allow hosts to configure their own SLAAC address on the network. Occasionally this requires some configuration from a DHCP server but no actual Server/Client communications occur when using SLAAC.