IPv4 and IPv6 are separate protocols. They don't talk to each other.
On some operating systems you can use an IPv6 socket and accept incoming IPv4 connections on it. But that is just a software thing to make code development easier for server code. I have never seen that work for client code. You'll have to create the right socket type for that.
Usually you resolve a hostname using DNS, you'll get multiple answers (IPv4 and IPv6), you iterate over them creating the required socket type and try to connect. If it works you use that socket, if not you do the next iteration which creates a new socket etc.
If you code that is sensitive to delays you might want to implement the happy eyeballs algorithm.