Lurkers are the tiny, fetus-looking necromorphs that have 3 tentacles come out that shoot at you. If you are close to them they will jump on you and you have to rapidly press A to get them off. The lurker dies once you kick it off so you will need to kick 10 separate ones.
The only time I actually got unintentionally grabbed by a lurker during my first playthrough of the game was during my very first encounter with one. Other than that, I have not seen them actively try to jump on to you. They will mostly try to get on walls and shoot you from a distance.
My point is that you will probably only get this achievement if you actually try for it. This means you will have to run up to the lurkers whenever you encounter them and hope they jump on you.
After multiple attempts, I have concluded that the lurkers will never jump on you in an area with zero gravity so don't even bother in that kind of situation.
Try to run up to a lurker before it jumps onto a wall or ceiling because it can be difficult and dangerous to try to coax them down.
I got to Chapter 10 before I realized this achievement wasn't going to come up naturally. Luckily, there are just enough Lurkers in the last 3 chapters to net you the achievement so don't feel like you have to start another playthrough just to get this one if you've made it that far.
In case you already missed it, this achievement stacks in New Game +, making it pretty easy. I'd say it is much easier to do on your first playthrough to avoid dying a bunch.
Kicks will not count if you die or reload a save so make sure you save and save often.