This trophy can be gained fairly early in the first part of Chapter 1.
Once you descend down the well you will proceed a screen or two ahead. Eventually you'll come directly across a bed in the Cave which you can interact with by pressing X. All you need to do is interact with the bed 3 times to unlock this trophy.
Please note that it's possible to also unlock this trophy on the bed in the bed chamber area where the missing handle piece you are looking for is tied to a bell. As long as you attempt to nap 3 times, you'll catch a quick snooze, and this trophy.