Based on your query, here’s a cohesive color palette inspired by the provided colors (C19A6B, 2C3E50, F5F5DC) along with additional harmonious shades to complete the palette with a total of six colors.

### Color Palette: "Earthy Elegance"

1. **Sandy Beige**
   - **Hex Code:** 
                            
                            #F5F5DC
                        
   - **Description:** A soft, warm beige that adds a touch of warmth and neutrality, reminiscent of sandy beaches.

2. **Desert Sand**
   - **Hex Code:** 
                            
                            #C19A6B
                        
   - **Description:** A warm, earthy tan that brings a sense of comfort and grounding, evoking the hues of sun-kissed deserts.

3. **Midnight Blue**
   - **Hex Code:** 
                            
                            #2C3E50
                        
   - **Description:** A deep, rich blue that adds sophistication and depth to the palette, reminiscent of a clear night sky.

4. **Soft Olive**
   - **Hex Code:** 
                            
                            #A8B400
                        
   - **Description:** A muted olive green that provides a natural, fresh feel, complementing the warmer tones in the palette.

5. **Warm Gray**
   - **Hex Code:** 
                            
                            #B0B3B8
                        
   - **Description:** A gentle, warm gray that serves as a perfect neutral backdrop, enhancing the overall elegance of the palette.

6. **Terracotta Red**
   - **Hex Code:** 
                            
                            #D76B3D
                        
   - **Description:** A vibrant, earthy red that adds an energetic pop to the palette, reminiscent of classic terracotta pottery.

### Palette Summary:
This palette combines warm earthy tones with deep blues and soft neutrals, creating a balanced and elegant aesthetic. It is perfect for designs that aim to evoke a sense of nature, warmth, and sophistication.