Grand Theft Auto: San Andreas

You unlock this when you complete the first mission.
Don't get confused though. The first cut scene is named Big Smoke but then the next one is called Sweet & Kendll. However after you return to Grove street you complete the mission and Unlock this achievement

I sadly initially had a tough time with this mission, called "Sweet & Kendl" , so I just pressed "Y" to take control of a car and then followed behind the bikers until you get back to Grove Street. Easy as pie, but make sure that you don't lose sight of the bikers because the marker goes back to your bike and not to Grove Street.

This achievement requires you to complete the first mission "Big Smoke".

You will begin the game with a cutscene, after it, you will be left in Ballas territory. Get on the bicycle, and ride it to CJ's house. Get off the bicycle and enter the house to begin yet another cutscene, named Big Smoke. You enter a car and drive to the next cutscene, named Sweet & Kendl. For some apparent reason, this achievement only unlocks after you complete Sweet & Kendl, not Big Smoke. After the cutscene, get on the bicycle and follow Sweet. Be aware that a Ballas car will try to hit you and shoot you, the way I avoided this was to stick close to Sweet and leave it alone. You will get another cutscene, but now Sweet splits up, and you have to follow Ryder. Again, the Ballas car will come back again. Once you arrive at Grove Street, the mission will end after the cutscene, and you will earn:



Here is a video guide.

Credits for the video to GTA Series Video (https://www.youtube.com/channel/UCuWcjpKbIDAbZfHoru1toFg)

Just leaving another suggestion here: If you know your way through the entire mission, you don't really need a bycicle. You can use another vehicle too, but the blue marks indicating Sweet or Ryder won't appear.
You can't get too far from them, because they will stop at where they were the last time you were close to them, so they have to be on your sight.