Step 1: Choose either Franklin, Michael or Trevor
Step 2: Ring the other two off of your phone, select 'Hang Out' as the reason. If one or both of them decline, then wait and try again
Step 3: Pick them both up in a car with enough seats
Step 4: Gain a wanted level of 3, simply by killing a single police officer, or by causing enough mayhem
Step 5: Keep on driving around evading the cops, but DO NOT allow your wanted level to vanish for at least 3 minutes, when the achievement shall pop up