Yakuza 6: The Song of Life

In Chapter 3 there will be a part in the story where you have to find milk for Haruto. During this time you will be walking around talking to people trying to find some and every so often there will be a minigame of sorts where you have to calm Haruto down and this is how you get the achievement.

It is very simple all you have to do, all you have to do is respond to his movements with a specific action. If you are struggling to work out what each action needs doing if you wait a few seconds Kiryu will tell you what needs to be done. You get plenty of time with this so it is hard to fail. Once the bar has been filled the achievement should unlock.

As far as I know this is the only achievement in this game that's classed as missable but you don't need to worry as it happens as part of the story and if you mess up the first time you get plenty of other chances during this specific chapter segment. If you are worried just make a save at the start of this segment.