This group of achievements are associated with the five companions originally available to Jedi Knight characters. There are 185 legacy points spread between 12 achievements in 5 subsections. Most of these are relatively easy so long as you play with all your companions throughout the story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with T7-01. These kills count if you recruit the companion during the Knights of the Fallen Empire expansion, or from playing the Jedi Knight story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Doc. These kills count if you recruit the companion during the Jedi Under Siege expansion, or from playing the Jedi Knight story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Kira. These kills count if you recruit the companion during the Onslaught expansion, or from playing the Jedi Knight story.
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Rusk. These kills count if you recruit the companion during the Knights of the Fallen Empire expansion, or from playing the Jedi Knight story.
10 Legacy Points
This achievement is unlocked for recruiting Rusk on any character from the Alliance Alert Mission, Bonds of Duty. Rusk's recruitment mission takes place at the same time as Skadge. If you recruit Rusk and Skadge at the same time this achievement will be unlocked. You can only recruit Rusk after recruiting Yunn. The mission needed to complete this is;
Bonds of Duty
50 Legacy Points
This is a hidden achievement
This achievement is unlocked for refusing Rusk at the end of Bonds of Duty. Note you can still recruit Skadge if you refuse to recruit Rusk. The mission needed to complete this is;
Bonds of Duty
5 Legacy Points | 20 Legacy Points
These achievements are unlocked for killing any combination of 100 and 1,000 enemies with Scourge. These kills count if you recruit the companion during the Onslaught expansion, or from playing the Jedi Knight story.