You may want to try shooting in a Scene mode or using the Scene Auto Selector. In these modes the camera automatically selects the best settings, including focus options, for your scene choice. For more information on these modes see page 39 of the S6200 manual. Another option would be for you to use the Best Shot Selector. When in this mode, the camera takes up to 10 pictures while the shutter release button is held down. The sharpest of these pictures is then selected and saved by the camera. See page 32 of the Reference section of the manual for details on Best Shot Selector.
When shooting in Auto Mode check your ISO sensitivity to see if it is set to a low number. A low ISO number may result in slower shutter speeds and larger apertures. Longer shutter speeds can result in blurry images and larger apertures result in less depth of focus (depth of field). For more information on ISO sensitivity see page 33 of the Reference section of the S6200 manual. You may also want to check out the Learn & Explore section of Nikonusa.com for articles on ISO, exposure and aperture. Other settings that you may want to adjust are:
Vibration Reduction - manual reference section page 61
Motion Detection - manual reference section page 62
AF Assist setting - manual reference section page 63
A copy of the S6200 manual can be downloaded from this address: http://support.nikonusa.com/app/ans...
If you continue to have difficulty please contact Nikon Technical Support: http://support.nikonusa.com