Pioneer's best friend

There are various Lizard Doggo creatures wandering around on the map, you'll likely encounter one fairly early on in your playthrough.

They are not aggressive, and normally quite scared of the player character - they'll run away if you try to approach.

To tame one, drop a Paleberry on the ground in front of you, whilst the doggo is looking at you. Hopefully it'll eat the berry, and the achievement should pop pretty much immediately. Interacting with the doggo afterwards lets you check if it's picked up any goodies for you :)