The achievement is unlocked when, after dying, you find your previous body and choose to retrieve it. The earliest opportunity to obtain the achievement is immediately after obtaining the unmissable Vestiges of Prosperity achievement. Following that point, after you die and respawn, you will be able to see your previous body marked with a green indicator on the in-game map.
Proceed to that point and locate the previous body. Interact with it to bring up a "Body Report." You have two options--Retrieve and Repair. Selecting Retrieve recovers the plug-in chip and gives you the option of restoring your previous equipment. Doing this the first time this occurs will unlock the achievement. The other option, Repair, does not restore the plug-in chips to 2B but reactivates the previous body as a third party member. Doing so will not unlock the achievement.
To earn this achievement immediately when it becomes available, right after you get the Vestiges of Prosperity achievement allow any enemy machine or animal to kill 2B. 2B will respawn where the Vestiges of Prosperity was unlocked. Open the map and identify the location of the previous body marked with a green 'arrow.' Go to that location and find the previous body. Alternatively, you can simply proceed directly to the point where 2B met her end without checking the map. Once you locate with the previous body, interact with it. Choose Retrieve when asked whether you want to retrieve or repair (or cancel). Then select to restore the previous equipment. The achievement will unlock when you select Yes.