This is a missable achievement during chapter 10 main story.
This is a guide from psnprofiles.com
After you fight the homeless hunters in the main storyline there will be a scene where the bearded homeless man will say Oda is waiting for him by the entrance. If you're not sure that you'll have the heat to perform the heat actions say "I need time to prepare" to Oda and go stock up on alcohol to fill your heat meter faster or get Tauriner ++ to instantly fill up your heat meter. After you stocked up go back to West Park and save if you're on legendary difficulty and then say you're ready. After you say you're ready there will be a lengthy cutscene at Tojo Headquarters between the chairman and Tachibana. After that scene plays out Kiryu will have to fight 20 some off guards so he can meet back up with Tachibana, and Oda. Once you've kicked the door down and met back up with them both you can perform co-op moves by using the heat action that becomes available when either Oda or Tachibana grabs an enemy or whenever Kiryu is surrounded and Oda or Tachibana is right next to you. There are more than enough enemies in this sequence, so doing this three times shouldn't be an issue. Wait around long enough and your partners will eventually grab the enemy.