This one can be completed with two controllers. Plug in a second controller and then on your main character use the console at the top right of the bridge area to add a second character to your game. Follow the on screen instructions to join on your second controller and select one of the pre-generated characters. Once that was done I created a Tarot mission and started it.
As both characters share the same screen you can only move a set distance from the second on your main which is a little annoying but easily manageable. Work through the level and complete the objectives for the achievement to pop.
As a side note, the enemies seemed a little more powerful so I suspect they have increased stats for a two character group.