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Sorry can't help much other than saying the answer will be found in the vehicle handbook which should be the first reference for most general model information requirements especially concerning instruments.
There can be slight variations depending on the territory the car was destined for and the handbook should provide the information pertaining to yours.
SOURCE: How do I change the passenger headlight bulb on my 2002 Audi A6?
Here you will see the left headlight we are going to take out, but the same procedure can be applied also to the right one (click will open a bigger photo in a new window)
First, remove the cover circled in green (just take it, it is not fixed with screws), then, with a Torx screwdriver, remove the two screws circled in red 
Cover removed
Under (yes, almost hidden) the cables circled in red and yellow there are two more Torx screws, you don't need to unscrew them all, only make 2 or 3 rounds
Particular of the screws under the circles in the previous photo (sorry for the bad focus)
Last, we have to remove the power connector. To remove it, pull the little plastic block lever circled in green and then, while holding it, pull out the whole connector (in red). After that the headlight is free, and you can take it out from the chassis
Et voila', headlight removed :) Red circles are for the vertical offset control, don't touch them unless you know what you're doing. Lights are located under the black plastic covers 
SOURCE: how do i change light bulb for Audi A6
remove rear part of air intake duct
take off cover for headlight housing
remove connector (counterclockwise) and wire clamp for bulb
SOURCE: Audi A6 2007 rear left light, brake light and turn signals
unplug the light. you will find a bit of rust on the + contact. that's the cause. I think it sparks sometimes and the computer shuts down the whole lamp. use a nail file or smooth sandpaper to clean the contact and there you have it... good luck. ;)
SOURCE: Audi A6 2005 LH Rear Turn Signal & Brake Light Failure
I had a problem with rear left side signal brake and reversing lamps not working on my 2007 A6 2.L Tdi SE.( Intermittent fault for 2 months)
I think I have identified the problem.
The seal between the Lens and the bulb plate had allowed moisture into the lamp.
During sunny days the water evaporates and enters the multi pin connector at the rear of the lamp.
On close examination of the connector I noticed minor discolouring of the ground ( Heavy Brown Wire connector Causing intermitting lamp failure )
SOLUTION
I expelled all moisture from the lamp and multi-pin connector.
I removed the neoprene seal from the lamp and refitted it good side up
I cleaned the ground pin on the connector with 600 grade paper and contact cleaner
I put a slight twist in this pin with long nose pliers so as to get better connection.
Lamp is working fine since.
Changing the bulb plate may also work
Great care must be taken when changing bulbs or this problem will reoccur
SOURCE: warning light of an engine on audi a6 has lite up
tghis is the check engine light, this means u have a problem in the electroincs that control the engine or the emission system, this is outlined in the owners manual.
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