F.I.S.T.: Forged In Shadow Torch

You can accomplish this easily in the basic combat training on Joffre Street. You will need the Rising Punch skill unlocked and will need to progress through the story far enough to get to Joffre Street and find the training racoon, Master Wu. Start Basic Training and use Rising Punch to hit the training robot into the air and throw him up onto the balcony with Master Wu with . Stand next to the training robot on the blue SP item so you get unlimited SP and just repeatedly hit it with Rising Punch to keep it in the air until the achievement pops.

Here is a video (not mine) that demonstrates the method.