The method I used to unlock this achievement, was basically returning to The Cloak Tower at level 35+. At that point you should be able to do this dungeon solo with a high levelled or maxed out Companion.
All dungeons are repeatable I picked The Cloak Tower because it is the lowest levelled dungeon and it is fast to complete.....even doing it solo.
This achievement is unlocked once you complete 10 normal dungeons. This will come naturally as you use the Dungeon/Skirmish Que System to join other players to run through the various dungeons as you level to 70.