This achievement is unlocked by piloting the Royal Vessel, a new feature of the Royal Edition, for the first time.
If playing through the game for the first time with the Royal Edition content installed, the ability to do this first becomes available midway through Chapter 9. When you first arrive in Altissa near the start of the chapter Cid will give you the key to the ship, but you won't be able to use it right away. Progressing a bit further into the chapter you will eventually receive the Messenger’s Amulet from Gentiana. At this point the game will also inform you that the ship is available.
At any point after this, you can summon the ship from one of three places.
1. The docks in Galdin Quay, near where Dino sits.
2. The boat dock under the lighthouse in Cape Caem, where you first saw the Royal Vessel.
3. The docks in Altissa, where you first arrived in the city.
Head to any of these points and you should be able to locate a prompt that allows you to summon the Royal Vessel. After a short scene you'll find yourself aboard the ship. From there, it's just a matter of interacting with the ship's wheel and selecting "Manual". The achievement should unlock shortly afterwards.