The Theft of the Reality Stone was a plan executed by the Avengers as a part of their Time Heist to steal the Aether from 2013, locating in Jane Foster, and bring it back to the present.
Thor and Rocket Raccoon were tasked with extracting the Reality Stone from Jane Foster.
Thor and Rocket Raccoon traveled back in time to 2013, arriving at Asgard to extract the Reality Stone from Jane Foster for the Avengers' plan to reverse the effects of the Decimation. Thor wandered off to talk to his mother Frigga while Rocket Raccoon successfully extracted the stone from Jane Foster. Thor quickly summoned Mjølnir before their escape.