I'm not sure if you meant the tax was on the original proce or not, so here's both answers:
Tax on original price: $3010
Tax after sale: $2968
To get the amount off from the sale
3500x.2=700
3500-700=2800
To get the tax
(Tax on original price) 3500x.06=210
(Tax after sale) 2800x.06=168
Add tax onto price
(Tax on original price) 2800+210=3010
(Tax after sale) 2800+168=2968