This is earned in the Tassel Town level, in the second part of the level where you climb the tower. This does NOT have to be done on your first visit, when the worm is chasing you. The next time you come back to the level, the worm will be gone, and you can climb at your own pace to find items and learn the layout, make sure to take note of dead end paths, seems you mostly stick to the left side.
Once you feel you know the layout, warp dance out or just leave the level and return. As soon as you enter the tower, transform into monkey form. This form runs a bit faster, jumps higher, and can climb walls, which is mandatory to make the climb anyway. Just rush to the top as quick as you can. You can climb walls really quickly by holding in the direction of the wall and jumping repeatedly. The same goes for chains, but instead hold up. Don't worry too much about taking damage from enemies or saws, and if you wait to do this on your second visit, the worm and fireball shooters will all be gone. At a couple spots you will have to transform back to normal to break or push blocks, just switch back to monkey immediately after.
The "record time" feels sort of misleading, as I made quite a few mistakes (taking the wrong path, getting stuck on a wall) and still got the achievement. As long as you don't fall way back down, it should be fine. The achievement will pop after you run out the exit at the top.