An easy way to earn this on your first encounter with the stage is with the Bat transformation.
For some reason when the first Zeppelin starts to explode you'll notice Shantae start to lose altitude. Get yourself to higher ground where ever you like and transform into a Bat again.
You'll be able to coast all the way to the end and land on your carpet thus unlocking the achievement.
You can also wait until you earn the Harpy ability but you should stumble across the bat first.