This is much easier with two controllers. When playing against the CPU they would always strike me as I was crawling to my partner.
Set up a normal tag team match with controller 1 vs controller 2 (make sure you select to control both team members or it won't work)
With your second controller beat down you first controller's character until their stamina is in the red, give them a finisher then pick up your first controller and crawl towards your partner, you should then be prompted to press
for a hot tag. You will then need to correctly hit two button prompts to complete the hot tag QTE and the achievement will unlock.