After being captured by MJ12 and escaping your holding cell with the help of Daedalus, you'll find an NSF prisoner called Miguel in a cell across from you. You need to talk with him and get him to safely follow you all the way to the helipad where Jock is waiting outside. You'll get the achievement after he stops next to the helipad, and you speak with Jock.
Tip: Remember to have Miguel following you when you exit the MJ12 facility and when you exit the UNATCO area. You can't reopen these doors so if you kept him waiting somewhere before the door, you'll be cut off from him.