As you can see, everyone has their own opinion on this issue, so I guess I'll weigh in too. The technique I use came from another thread here, but I don't remember whose "method" it was. Whoever it was, thank you. I have the 4P/Ss, so you may need to adjust the technique for the ER-6.
I use the silicone tips. I tried the foamies once, but didn't care for them. It felt like they were going to rip my ear canals wide open. The biggest problem I originally had with the silicone tips was inserting them too far, which made them really uncomfortable.
Anyway, here is what I do:
- I don't lubricate them; I've never felt the need to, and I read that it tends to make them itchy after a while.
- Insert them just until they feel like they're starting to get tight (not very deep), with the wire pointing forward (instead of down).
- Pull back your ear (a la the Etymotic instructions) without inserting further. They'll seem to loosen up.
- Twist 90 degrees until the wires point down while inserting a little further (again, until they feel like they're starting to get tight).
- Pull them out a tad to equalize pressure without breaking the seal.
For me, this gets them in far enough to seal without causing discomfort. After they've been in a while, they'll conform to your ear canal, and you'll hardly notice them. You can see the effect when you remove them; in my case one side flattens out.
For me, the secret to comfort and good sound was not to try to insert them too far. You'll read a lot here that they need to be inserted deeply in order to get good sound, but that just caused me discomfort. I think the key to making Etys enjoyable is to insert them just deep enough to get them sealed up. The technique above does that for me.
Try everything people have said here, and eventually you'll find something that works for you. I had my doubts for a while whether I'd ever get used to these, but the sound kept me coming back until I found an insertion method that works for me.