Story related, cannot be missed.
You will net this achievment deep into the main questline after you find your way to Lostlight from the Kingdom of the Dead. You will proceed through Lostlight to the Crystal Spire where a portal to the Earth will be opened to you.
Upon arriving at Earth you will speak with Uriel who will point you in the direction of the rod. Follow the very linear areas to collect the 3 pieces of the rod, constantly returning to this main hub after each piece is found (note that each section will feature a fight with the same creature called The Noss. This creature shouldn't give you too much trouble as you will always have an angelic weapon on hand to use should you desire it).
After you collect the third piece, return to Uriel who will speak with you. Once the conversation is complete, proceed to the portal to return to Lostlight. As you exit the portal, the achievement should unlock during the following cutscene.