This trophy is stage-specific. You can only obtain this at: Cape Crustacean, Stage 1
The description is misleading as you will have to jump off of your carpet within the first few seconds. All you have to do is don't fall off of the stage itself (which will throw you back up onto a nearby carpet should it happen). You should get this by the end, when you ride your carpet up (or if you face the boss, though I'd just wait until your return visit to get this).