abc.loc[3]=[6,19.4]
This command takes in the index of the row, where the values are to be replaced. Since the index of 4th row is 3, we'll assign abc.loc[3]=[6,19.4]
This gives us the desired result:
print(abc)
    cyl  mpg
0    4  21.0
1    6  21.0
2    4  22.8
3    6  19.5
4    8  18.7
5    4  18.1