I once found a chart that was able to tell me this for the Middle Ages. It may have been good for a much longer arc of time. I’ll have to check my research notes. If I don’t get back to this question in a few days, feel free to PM me (meaning send me a private message by clicking my username or avatar).
A man of my acquaintance also happens to be an expert on all things lunar. I’ll consult him for you if my links don’t turn up.
It can be done with astronomical calculations. However, if you are trying to compare to historical events, then one runs into the issue that historical dates of events, and calendars and year-numbering systems themselves, were not terribly accurate and evolved in the past, particularly if you go back more than about 400 years, not to mention 6000.
Oh, and when I wrote “evolved”, I mean the calendar and year-numbering systems changed both in details and in completely different systems, or individual writers may also make up their own date systems, particularly during the Dark Ages, or before Rome, where historians were very few and pretty much on their own to invent how to describe when things happened (in European contexts).