There is classic racing mode, gta racing mode, and rally racing mode. Rally racing mode is the one which the driver doesn't knowing where to go but the co-driver knows, as a co-driver you can remind the driver where to go. If you have a 3 friends, start a 2v2 match and make sure you set yourself as the co-driver, have your 2 friends in another car let you win and the trophy will pop. If you don't have friends you can always find a Rally Race and try to win one.