To do this, you have to have a landed rocket, which you need in order to start the game. Over time, your drones will refuel the rocket and it will prompt you to select the launch option in the rocket's info tab. This may pop when it's done refueling or when you launch, but either way it'll pop if you launch it.
Overall, pretty much an achievement that you will easily get if you pay attention to the info panels that pop up when you start playing.