The MAC address is a unique identifier assigned to network interfaces for communication on the physical network segment.
IPv4, uses the ARP (Address Resolution Protocol) to map IPv4 addresses to MAC addresses. When a device wants to communicate with another device on the same local network, it needs to know the MAC address associated with the target's IPv4 address. ARP is used to find this MAC address.
NDP (Neighbor Discovery Protocol) is the protocol used for IPv6 to perform functions similar to ARP in IPv4, but with additional capabilities.