In order to get the refresh token you have to add both approval_prompt=force
and access_type="offline"
If you are using the java client provided by Google it will look like this:
GoogleAuthorizationCodeFlow flow = new GoogleAuthorizationCodeFlow.Builder(
HTTP_TRANSPORT, JSON_FACTORY, getClientSecrets(), scopes)
.build();
AuthorizationCodeRequestUrl authorizationUrl =
flow.newAuthorizationUrl().setRedirectUri(callBackUrl)
.setApprovalPrompt("force")
.setAccessType("offline");