This achievement is story-based and cannot be missed. After you defeat the Princess the achievement will unlock.

This fight is extremely easy. Keep avoiding the skeletons and focus on the burning totems that the Princess summons. Destroy four of these burning totems and she is defeated.

In the Twilight World, she has a bird form and will attack with laser beams. Keep rolling to avoid the attacks. After a few beams she will land on the ground, that is when you have to hit its beak. She will leave a spear and a shield behind. Grab and equip them quickly and use the shield to reflect the beams back on her. Do this four times and the fight will be finished.