When I remember to do so, I like to soak the lentils overnight, as they then cook up more evenly, with fewer split lentils. (It also increases their digestibility.) Soaked lentils typically cook up a bit more quickly, so check early for doneness.
I prefer French green or de Puy lentils here, as they keep their shape well. For a more budget-friendly option, green or brown lentils are a great alternative.
The lentils are also great (without the yogurt) topped with a fried or
poached egg.