Simply start up GTA V and click
for 'Online' mode, download the Online Heists DLC (it should take roughly 1 hour).
After a short time of free roam (it took me about 5 minutes), a green message will pop up from Lester. Use the phone (
) to accept the mission.
Just complete it by joining one more person online. Either you and/or the other player must be level 12 with a reasonably large apartment in order to plan the heist.
Just retrieve the car after fighting people, then take it to Lester. The achievement should pop-up after the short 5-10 minute Heist Setup