Go to Settings > Security and Privacy > Lock Screen > Screen Lock
Then your phone will ask for your current pin, enter that, and press continue.
Then you'll see this page:
Then click pin, it'll ask you to enter a 6-digit pin. When you enter at least 6 digits. The option to "Confirm pin without tapping OK" will appear just below where you're entering your pin. Make sure to select the checkbox to enable the process to unlock the phone without tapping ok. And then save your new pin