So I would like to add an addendum to the previous solution. First and foremost, you have to complete the assassination mission on Venus, doing this unlocks the "Howl of the Kubrow" questline. By doing this questline you'll have to complete a Defense mission on Venus where you have to face waves of enemies for about 10 minutes until the Incubator is found, by that point you'll complete the mission. After that, you'll head back to your ship and install it. Once done you'll then have to hatch a Kubrow. If you're lucky, you will have already have gotten all of the materials. If you haven't, you can find a Kubrow egg in Kubrow nests although I don't know the rarity of their drops. Return to your ship and hatch your new Kubrow. You can add a few traits if you have them available. If you don't, that fine, just start the hatching process. This will net you:
The Egg Timer achievement in Warframe worth 21 pointsBegin Genetic Lab Incubation for a Kubrow
Now you'll have to wait for 2 full days (aprox. 48 hours) to wait for the egg to both hatch and mature to a level where it is walking around. After this, you have to mature it, an option you'll see in the Incubator menu. Once this is done, reactivate the "Howl of the Kubrow" quest where the Lotus will give you a new step in your quest where you have to defend your newly named and matured Kubrow against waves of Grineer to obtain a collar. Once you extract you'll have a collared Kubrow as a companion. Now all you have to do is select it as your companion and complete 9 missions with it as you already did one with your Kubrow, you can pick easier ones if you desire and just do 10 of those and you'll have a new achievement.