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Preheat oven to 375°F. In a covered medium saucepan, cook potatoes and parsnip in enough boiling water to cover about 20 minutes or until tender. Drain well. Mash with a potato masher or with an electric mixer on low speed. Gradually add yogurt and salt, mashing or beating to make potato mixture light and fluffy. Cover and keep warm.
Meanwhile, in a large skillet, cook turkey (or beef) and onion over medium heat until meat is brown. Drain well. Stir mixed vegetables and water into the meat mixture. Bring to a boil; reduce heat. Cover and simmer for 5 to 10 minutes or until vegetables are tender.
Stir in undrained tomatoes (chop any large pieces), tomato paste, thyme, Worcestershire and pepper. Heat through. Divide the mixture among four 12- to 16-ounce individual casseroles or ramekins or transfer the mixture to a 1-1/2-quart casserole. Pipe or drop mashed potato mixture in mounds atop the hot meat mixture.
Bake for 20 to 25 minutes or until potatoes are heated through.