What are steps to submit a packet to join the IRR after 6 year contract?

It's a super easy process to do an IRR packet. Takes a 4651, a commanders counseling and retention counseling, your DD Form 4, DA Form 3540, and a memo from you stating why you want to go into the IRR. I do them all the time on my civilian side. Your ARA can do them.

You seek out your Retention NCO and Unit Commander. They have to initiate the paperwork