Unless you stumble upon a Rescue mission during your first run (which is a very rare and very hard mission type) your first opportunity to get this will be during your second run (aka Remembrance).
Every Remembrance consists of weeks, each week being during a specific era. On day 4 of each week you will always discover the boss, which offers a new item that you can find in your Inner Void. During the first week you’ll discover the Surgeon and unlock Corroded Scissors. This allows you to resurrect one Daughter.
The catch is that applying these buffs costs shards. While you’re earning a big pile of shards by completing missions they’re only awarded for spending on your next run. Think of it like a pay day, you earn by working and are paid later.
You’ll probably want to get to The Surgeon and fight him during your first run (though you have the option of ending a run anytime) as he’s challenging and you’ll want to see how he works and unlock his Journal entry so you can understand his AI. Wiping on a boss will automatically end your run. If you luck out and beat him simply end your run after getting to the 4th day of the second week (will give you a second resurrection item). After a run all your previous run’s daughters will be in your graveyard.
When you start your next run you’ll be prompted to spend your shards. You can actually spend them at any time but might as well spend all but 50 now (after you beat the boss you’ll see why you want 50 saved up).
You’ll automatically be awarded a Resurrection Token, just go to the graveyard and resurrect your best Daughter. Your achievement will pop immediately.
You can also resurrect the a daughter after sacrificing her to heal another daughter. This can be useful right before a boss fight. You get a heal and a powerful Trait unlocked on the healed daughter, so don’t feel that you must immediately spend the token.