This is a story related trophy and cannot be missed.
*** Spoiler - click to reveal ***After a CG cut-scene very early in the game, you have to climb out of Hades. When the hole closes you should get this trophy. You can attack the arms with the square button and right stick in any direction, clearing the path and gaining green orbs, the hands grow back infinitely so you should time your ascent upwards to make sure they don't bat you down into Hades.