3.23: Normal to tan curve: midpoint of AB

The normal to the curve $y = 2 + \mathrm{tan}\,3x$ at the point $P(p, -1)$, where $0 < p < \dfrac{\pi}{6}$, meets the $x$-axis at $A$ and the $y$-axis at $B$. Find the exact coordinates of the mid-point of $AB$.