How to lookup tax rate from a reference table?

In my cell S6 in my sheet "Staff", I need a formula that collects data from the sheet called "TaxRates" based on the data in the cell R6 (of the first sheet "Staff").
The Tax Rate (cell S6) the staff member is charged depends on their Gross Pay (cell R6).
If the staff member made from $0-$200, the tax rate is 5%. There is a list of these on the sheet "TaxRates". Maybe a VLOOKUP would work for this, and I make this table the reference table.

I've attached it so that this makes more sense.