I don't know if there is some kind of algebraic way to find this (I'm pretty sure there isn't) so let's just list the multiples of 21.
Green = Possible answer
Red = Not possible answer
21, 42, 63, 84, 105, 126, 147, 168, 189, 210, 231, 252, 273, 294, 315, 336, 357, 378, 399, 420, 441, 462, 483, 504, 525, 546, 567, 588, 609, 630, 651, 672, 693, 714, 735, 756, 777, 798, 819, 840, 861, 882, 903, 924, 945, 966, 987, 1008, 1029
In total, we have 7 positive multiples of 21 that have no digits smaller than 5. Now, we need to figure out the smallest one, which is easy:
The first green number is 567, which will therefore be our answer.
Ans = 567
Hope this helps :)