Find closest multiple of $21$ to $117$. We see that $5 \times 21 = 105$ is the nearest. Now subtract $105$ from $117$ to get reminder $12$. Add $5$ to quotient.
Find closest multiple of $21$ to $126$. We see that $6 \times 21 = 126$ is the nearest. Now subtract $126$ from $126$ to get reminder $0$. Add $6$ to quotient.
Since $0$ is less than $21$, stop the division. The reminder is $0$. The topmost line $0056$ is the quotient. Remove all zeros at the start of the quotient to get the actual quotient $56$.