First, make your way to Port Azure and go to the upper level of the large building around the center of the city. It is connected to the back of the Azure Arms.

Once on the upper level of the building, go out onto the balcony facing towards the water and statue and walk as far into the corner as possible:

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Once in the corner, start jumping forward until you are levitating off the ground like this:

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Now turn to your right and face the roof of the Azure Arms:

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Jump over the wall and follow the path around to the side of the building, towards the blue roof that leads up the side of the main building:

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Finally, jump onto the slanted part of the roof and climb as high as you can on it, and the achievement should pop when you are around this position: