Knights Contract
50 Achievements
1,000
50-60h
Take One for the Team
Perform 10 counterattacks while taking enemy attacks
20
How to unlock the Take One for the Team achievement in Knights Contract - Definitive Guide
They also like to pounce on Gretchen (and very rarely on you too) and drain her life. However, I found that if I picked Gretchen up (RB button), that it would virtually guarantee that they would pounce on me, giving me the opportunity for a counter-attack. The achievement popped very quickly thereafter.
UPDATE: On the harder difficulties, some of the monsters will grab you and will need to wiggle the Left Thumbstick back and forth to get them to release you. Doing this will also count for the achievement.
Often times, an enemy will grab hold of Heinrich, and you will be prompted to repeatedly press one of the face buttons on the controller, selected randomly depending on the type of enemy. If done successfully, Heinrich will throw off the attacker and perform a counterattack. Repeat this 10 times, and the trophy will unlock.
If you're impatient and want to get this out of the way as soon as possible, you can do this during Episode 4. When you're forced to rescue Gretchen by traversing through a series of caves, head right, where you'll be facing a lot more Wights in this path than you would have had you headed through to the left. Defeat the Hammer Wights, and leave the Sword/Shield Wights alone. Let them slash at you, and they'll eventually perform an attack that you can counterattack on. Counter it by repeatedly pressing . Repeat this sequence via Episode Select if necessary.
A counterattack is performed when an enemy grabs Heinrich and you are prompted to repeatedly press one of the face buttons. If successful, Heinrich will throw off the attacker and damage them. Do this 10 times.