The rotation group of the icosahedron acts on various sets. For example, any rotation obviously permutes the $20$ faces of the icosahedron, so the group has an action on a $20$-element set. But if two faces are opposite each other prior to rotation, they are still opposite each other after rotation. So we also have an action of the group on the $10$-element set whose members are pairs of opposite faces.
What goes for faces also goes for edges and vertices. So there is an action of the group on the $30$-element edge set, but also on the $15$-element set whose elements are pairs of opposite edges. Even more can be said: each pair of opposite edges forms a rectangle whose short sides are the two edges. The long sides of the rectangle pass through the body of the icosahedron and have length which is the golden ratio times the length of the short sides. So we have $15$ such "golden rectangles". These come in five sets of three mutually orthogonal rectangles. (The dihedral angles between the planes containing the rectangles in such a set are right angles.) Since the rotation group of the icosahedron is isomorphic to $A_5,$ it's not surprising that there is some five-element set on which it acts.
Moving on to vertices, the rotation group of the icosahedron permutes the $12$ vertices, but can also be regarded as acting on the six pairs of antipodal vertices. Equivalently, it permutes the six five-fold symmetry axes of the icosahedron.
To see why $A_6$ should contain six copies of $A_5$ that act in this way, we count the ways of labeling the six five-fold symmetry axes using the numbers $1$ through $6.$ Because we are going to act on the set of labeled axes with the rotation group of the icosahedron, we consider labelings equivalent if there is a rotation of the icosahedron that turns one into the other. We can always rotate the icosahedron so that axis $1$ is vertical and so that axis $2$ is also oriented in a specified direction. There are then $4!=24$ ways to assign the labels $3,$ $4,$ $5,$ $6$ to the remaining four axes. We can think of axis $1$ as joining the north and south poles of the icosahedron. There are five vertices that are nearest neighbors of the north pole, and each has an axis passing through it. One of these axes is $2,$ and the labels of the other four, proceeding clockwise, say, around the north pole, are an arbitrary permutation of $3,$ $4,$ $5,$ $6.$
One can then construct a copy of $A_5$ that represents the action of the rotation group on each of these $24$ labelings. These $24$ $A_5$s are not all distinct, however. Consider the labeling in which the five axes proceeding clockwise around the north pole are $2,$ $3,$ $4,$ $5,$ $6.$ A counterclockwise rotation of $2\pi/5$ around the north pole corresponds to the permutation $(23456).$ Consequently the copy of $A_5$ acting on that labeling contains $(23456).$ But then it also contains powers of this cycle: $(24635),$ $(25364),$ and $(26543).$ One can check that if we label the axes proceeding clockwise around the north pole by any of these four five-cycles, the $A_5$s that act on these labelings are all the same. Hence instead of $24$ $A_5$s, we have only six.
To see that $A_6$ contains only $12$ copies of $A_5,$ note that $A_5$ contains elements of order $5.$ The only elements of order $5$ in $A_6$ are $5$-cycles. On the other hand, $A_5$ contains no elements of order $4.$ Now to build a copy of $A_5$ in $A_6,$ you have to put in $5$-cycles. If you put in two $5$-cycles that contain the same five elements (and aren't powers of each other), you get the first type of $A_5.$ If you put in two $5$-cycles that contain different elements, say $1,$ $2,$ $3,$ $4,$ $5$ and $1,$ $2,$ $3,$ $4,$ $6,$ it is not hard to check that unless you make an $A_5$ of the second type, you inevitably generate elements of order $4.$