This is not an obvious achievement. You have to fulfill 2 conditions:
1 - Daniel can not die before "Ruined" chapter
2 - After Andrew and Daniel pushed the big box and destroyed the floor, Daniel felt down to a monster with spears, you have to choose "Attact" as an Andrew and hit the monster with the wheel. Next You can not die down there it means you have to complete QTE as well (QTE = It's this minigame when you press B,X,A and Y to survie), then Daniel will hold the pipe which Andrew gives him to take him up, and then you will get a 2 choices as Daniel you have to choose "Go!" and survive one more QTE with monster. After that the achievement should pop.
I am sorry if something was not wrote correctly but I am not native english speaker but I tried my best to describe it easy.
If you have a question you can add me GT - BajerKR and I will try help :)