Gregory,
The volume of a cylinder is V=pi*d2 *H/4 where d= diameter (3 cm) and H= height (what we want to find.
The mass M = ρ*V where ρ is the density of lead in kg/cm3 . Solving for H gives H=4*V/(pi*d2 ) and V=M/ρ
So H=4*M/(ρ*pi*d2) in order to get a numerical value for H you must be given the density of lead ρ. Once you have that you can calculate the height.
Lead is about 11.34 g/cm3
Jim