This is story related and cannot be missed.
This is basically the last part in the game. You will come to a short level section called ‘The Tower’, your objective is to keep climbing up & up to reach the top of this tower. So basically do what you have been doing all along, traverse the gaps, jumps and other traps that stand in your way.
Once you reach the top a cut-scene will begin & you will get the trophy. This will be the last boss in the game so make sure you read the ‘Invincible’ trophy before starting the fight!