Go to Quick Play then to Custom Race.
Vehicle Select: Lamborghini Veneno
Track select: Red Bull Ring GP
Race Settings: 5 laps with light clouds. This was default for me but you can change it to whatever you want just as long as the lap count is 4+.
Session settings: Disabled. You don't need to practice this unless you really don't know the track very well. Achievement will not unlock in practice or qualifying.
Opponent settings: 1 with zero aggression and zero skill level, this is what I did. You could probably do this with zero opponents.
When the race starts, just focus on staying on the track the whole time taking it nice and easy. After completing your 4th lap your achievement should unlock even if it is not the end of your race. All of my laps were clean I did not at any point go off the track. I cannot say for certain if going off the track doesn't register for progress of this achievement as a "completed" lap since you would be penalized.