You unlock this ability after you complete the mission "A Whirling Rasengan Explodes". It's the 10th mission in the "Tsunade Search Arc". After completing that mission, 3 new ingredients will appear on the map. All 3 are behind doors that need to be broken with the Rasengan. Go to one of those doors and stand directly in front of it. Press
to start the Rasengan and then just keep mashing
to break through.