\version "2.16.2"

\layout {
  \context {
    \RemoveEmptyStaffContext
    \override VerticalAxisGroup #'remove-first = ##t
  }
}

music = {

  \repeat unfold 4 {c''1} \break \repeat unfold 4 {c''1} \break \repeat unfold 4 {c''1} \break}

  voiceone = { \music c''1}
  voicetwo = { \music r1}

\new StaffGroup {
  <<
    \new Staff \voiceone
    \new Staff \voicetwo
  >>
}