This can be done in private or ranked matches. Each team (section 8 or arm of orion) has 6 squads (Alpha, beta, gamma, etc) You can join any squad under 'squad management' from the dropship menu in game. Next, make sure one of your friends is on your team and invite the to your squad by clicking on your squad twice, then click Invite friend and select your friend from the list. You can kick the player and re-invite them 10 times until the achievement unlocks. If you don't have anyone to invite, you can also do this with bots, but only in instant action.