Edit /etc/network/interfaces
add:
auto he-ipv6
iface he-ipv6 inet6 v4tunnel
address 2001:470:XX:21b::2
netmask 64
endpoint 64.XX.134.130
local 198.XX.177.77
ttl 255
gateway 2001:470:XX:21b::1
up ip addr add 2001:470:XX:21b::/64 dev he-ipv6
up ip addr add 2001:470:XX:21b::2a2/64 dev he-ipv6