The A6191 was originally the route of the A617 through Mansfield. The road was redesignated to A6191 after the completion of the MARR (Mansfield Ashfield Regeneration Route) to the south of the town, which took over the A617 number in 2004. The road appears on several signs at the start of the road, but other signs only mention (A617).
Starting between the village of Pleasley and Mansfield, the A6191 starts at a signalised crossroads, where the A617 TOTSOs right onto the MARR. A minor road to Radmanthwaite also connects to the crossroads. At this point, the A6191 is a suburban dual carriageway with a 40 mph limit. It varies between D2 and D1 at regular intervals, as part of safety works to allow right-turning lanes - the central reserve is narrow and unfenced. The road meets the A6075 at a signalised crossroads, then carries on to the town centre.
Just before reaching the town centre, the road meets the A6009, otherwise known as the Inner Ring Road, and is the junior partner in a multiplex. The Ring Road is not numbered on any signs, and indeed the numbering system around the Ring Road is very confused in places. The multiplexed section remains D2, apart from a very short section past the West Nottinghamshire College's central campus. The road meets up with the A60 and B6033 at yet more traffic lights, before going underneath the Robin Hood railway line. The A6191 then regains its identity at a set of traffic lights, and turns to the left.
Southwell Road, Mansfield
The A6191, still on the course of the old A617, heads east from the town centre, along a wide S2, starting off as a 30 limit, but soon regaining a 40 limit as it reaches the suburbs, and becomes D2 once more. Several accesses to business parks are passed on the way to reaching the end of the route, which terminates back on the A617 just before Rainworth. This junction is a large roundabout, with a left-hand feeder lane onto the A617 Rainworth bypass. It was originally planned to build a flyover here, with the Rainworth Bypass feeding seamlessly onto the MARR; however the MARR plans were watered down to a simple S2 instead of D2, as per the Rainworth Bypass.