After looking into it, it looks like that model SHOULD be compatible. Haven't actually tried with that specific model before so can't guarantee 100%, but from what I've been able to research on it, it looks like it's compatible. May need to disable Walled Garden, however: »Verizon Online DSL FAQ
»How to Turn off the Walled Garden
Note that the FAQ refers to 6100 and 6100F, but I wouldn't be surprised if the 6100G also has it enabled by default.