When the app starts, press to move over to ‘Library’ and select ‘Interactive Episodes’.
This is unlocked in Episode 5, ‘Humpty’s Big Break’, Chapter 6, ‘Elmo’s World: Animals’.
Throughout the chapter, many animals will appear on the screen for you to “touch” (lions, tigers, bears, elephants, monkeys). Keep hitting them with your arms and legs and they will be knocked off the screen. This does not happen at one specific point in the chapter, it happens throughout.
The simplest way to unlock this achievement is using ‘Chapter Select’ to choose the chapter. When the chapter is over and the next one starts, just press , move over to ‘Stop’ and press again. The achievement will unlock when it is buffering. You can alternatively watch the entire episode, but that would be more time consuming.