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Any orbit with an orbital period of 6 hours. For Kerbin, like Elkar said, that's an orbit with a semi-major axis 2868.75km. You'll probably want to use a plug-in like Kerbal Engineer, which will show you your orbital period; it's far easier to get a slightly eccentric orbit that has the right period than a perfectly circular orbit at the right altitude.

Note that a geostationary orbit, which remains in exactly the same position in the sky, also requires an inclination of zero degrees relative to the equator. If your orbit is inclined a bit, then when viewed from Kerbin your satellite will have an analemma, moving across the sky during its orbit although remaining over roughly the same spot.

Edited by Kimberly
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