How to compare 6 columns and identify matches

I've searched for the answer, however, have been unsuccessful in finding one specific to my needs.

I will have a spreadsheet that compares 6 columns (3 compared to 3 others). I need to know the easiest way to identify the matches between the two sets. In the end, it needs to be clear which from first set are not in second set, and vice-versa. ALL 3: ID, First Name, and Last Name must match simultaneously to be considered a match). So, "Joe Smith" in first set with different ID than "Joe Smith" in second set would not be considered a match. I hope this makes sense.

Example:
Column 1: ID number
Column 2: First Name
Column 3: Last Name

Column 5: ID number
Column 6: First Name
Column 7: Last Name

(I have attached a sample. Hopefully it will help.)

Thanks in advance.