This achievement is partially based on luck. First, you need to get the Kick of Tyr ability from the world. There is no guarantee it will pop up in your run, and as far as I know, there isn't any gear that provides it.
After that, it's just a case of kicking enemies off ledges. Fortunately, there's lots of verticality on the map, so opportunities abound. You'll also need to fill adrenaline spots to be able to use it.
If you don't get enough kicks in one run through, be sure to purchase the Vivid Memory favor from Nar, to keep the ability for the next run through.