To do this, you're going to need to save up and spend some skill points first to be able to unlock the Charge attack skill from the Biotic tree and Tactical Cloak in the Tech tree if you did not choose a character at the start of the game that has this skill already.
You need to put 9 points into the Biotic skill tree before you can unlock Charge. You also need 9 points into the Tech skill tree before you can unlock Tactical Cloak.
After both are unlocked and active, find an enemy and use Tactical Cloak. While cloaked, use Charge on the enemy to take them down.
Doing so will unlock the trophy.