Clean, peel, and cut the potatoes into even sized chunks. Add them to a large pot and fill it with cold water until the potatoes are covered. Add a generous amount of salt into the pot and bring the potatoes to a boil.

Once boiling, lower the heat to medium and cook the potatoes until they are very tender and a knife can easily slide through the potato.

While the potatoes are cooking, warm the milk and smashed clove of garlic in a saucepan over medium-low heat. Heat  until tiny bubbles form around the edges of the pan. Don’t boil the milk.

Once the potatoes are cooked, drain them and add them back into the pot along with the butter. Mash them with a potato masher. Add in a third of the milk, salt and pepper, and continue mashing. 

Add in the Greek yogurt and another third of the milk. Keep mashing and add in the remaining milk. Once the potatoes are at your desired consistency, taste for seasoning and add additional salt and pepper as needed. Top the mashed potatoes with chopped fresh herbs, such as thyme, chives, or rosemary if desired.