Wash and soak tuvar dal/toor dal for 15 minutes. Pressure cook dal with green chillies and 2 cups of water until soft.
Heat a kadai, add the dal and 1 cup of water to it and let it come to a boil.
While the dal boils, heat a small tadka pan with oil, splutter mustard seeds, add minced garlic, cumin, hing and curry leaves.
Pour this sizzling tadka over the boiling dal and let it simmer. Check the consistency if its too thick, add 1/4 cup of water to it.
After 10 minutes, add milk to the dal and let it simmer for 8-10 minutes in a medium flame.
Once all the flavors have mingled well, garnish it with fresh coriander leaves, take it off the stove and serve it warm with rice or enjoy it like a soup.