We measured the trigonometric annual parallax of H$_2$O maser source associated with the massive star-forming regions IRAS 06061+2151 with VERA. The annual parallax of $0.496pm0.031$ mas corresponding to a distance of $2.02^{+0.13}_{-0.12}$ kpc was obtained by 10 epochs of observations from 2007 October to 2009 September. This distance was obtained with a higher accuracy than the photometric distance previously measured, and places IRAS 06061+2151 in the Perseus spiral arm. We found that IRAS 06061+2151 also has a peculiar motion of larger than 15 km s$^{-1}$ counter to the Galactic rotation. That is similar to five sources in the Perseus spiral arm, whose parallaxes and proper motions have already been measured with higher accuracy. Moreover, these sources move at on average 27 km s$^{-1}$ toward the Galactic center and counter to the Galactic rotation.
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