Grand Theft Auto: Vice City

Story related, cannot be missed.

"Supply & Demand" is the final mission given to you by Ricardo Diaz. You will need to drive the boat in which you obtained in the previous mission to the location of the Yacht. There are two paths you can take represented by the other pursuing boats which you need to beat to the Yacht. Take the left path and avoid hitting the other boats and the walls as Lance can fall out, resulting in the mission being failed. Once you get to the Yacht you will then need to return it to Diaz's mansion. Lance will be driving and you will need to kill the pursuing boats and helicopter before they destroy the cargo on your boat. Once you get back to the mansion, the mission will be completed and the trophy will unlock.