There used to be a sample Java applet (quite possibly still is) that you used to test what scheduling algorithm your JVM and underlying OS use. It animated two (or optionally more? can't remember) bars gradually filling up, each animated by a different thread at the same priority.
An equivalent that prints:
red 1 red 2 green 1 red 3 green 2
etc to the console, seems to me to be the closest thing in spirit to the bare bones nature of "hello, world". That is, "can I make the computer do something useless but visible?"
So in each thread you'd want a series of pauses (either busy-loops or sleeps, up to you, and which you choose might affect the output depending how your concurrency is scheduled), each followed by some output. You might want to synchronize the output -- not really essential, but if a line were to be broken up by the scheduler it would be awkward to read.
Then if your concurrency model is co-operative (either neolithic threads, or perhaps something co-routine-based), you have to add suitable yields as well, to prevent the red bar filling before the green bar starts. That tells you that you've successfully made your concurrent code interleave.