There are 6 degrees of freedom (3 translation, 3 rotation) in three dimensional (3d) elements like bricks and tetrahedra, but only 3 degrees of freedom (2 translation, 1 rotation) in two dimensional (2D) elements like quadrilaterals and triangles.
The finite element equations that must be solved are sometimes written:
Ku=F, K is NxN matrix called the stiffness matrix, "u" is the solution vector, Nx1 in dimensions, and F is the force vector, Nx1 in dimensions. This is just a quick way of course to represent "N" equations. K11*a1+K12*a2+..etc.=F1, etc.
This number of degrees of freedom (DOF) is exactly the mininum number of DOF in "K" that must be constrained. "K" is singular--in 2D, there are N-3 independent equations. In 3D, there are N-6 independent equations. The "3" and the "6" correspond exactly to the number of DOF in the elements, which depend on whether the elements are 2D like quadrilaterals or 3D like bricks.