Basically, all you need to do is tail El Jefe with the RC car. As you tail him, there will be several guards along the paths. Make sure to press to activate the chicken disguise. Press to boost forward, as you need to stay close to avoid losing him. You will not be able to boost while using the chicken disguise. Press to fire the turret at any objects blocking your way. Alternatively, you can just smash through them.
There is also a timer at the bottom of the screen. If it runs out before catching up to El Jefe, you will fail the mission. Once El Jefe leads you near the Geisha house, the job is complete.