Although the achievement says first try, this just means you can't fail and start again. But there are two ways to work around that:
• Replay Mission - I'd suggest this, you can do this for your hard/treasure/time trials play-through, without really going out of your way.
• Save and Re-load if you fail. In which case you will want to save at:
The room with the 25 (Estimate) Red pillars. After completing this segment and placing both Scions into their slots, you get a checkpoint. This is the final checkpoint before the "Super Actions". You just need to walk through the door and the cutscene will start.