after walking around and doing about 7 quests i saw a person with a gold (...) bubble above their head. i talked to them and it said the name was Teleport Master and asked if i wanted to go to another place. i said yes, and received the achievement right after this. this was right near the beginning of the game. i didn't see if there was a cost when i used it the first time, but it cost me 45 bronze to go back home.