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Wash and slice the mixed vegetables and onion into medium sized chunks.
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Into the pressure cooker, add toor dal, mixed vegetables, onions, green chilies, salt, turmeric powder, sambar powder, along with water enough to cover the vegetables, and cook for 2 whistles.
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Switch off the flame and allow it to cool until all the pressure had been released.
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In the meantime, soak tamarind in ½ cup warm water for 5-7 minutes. Squeeze out the extract from the tamarind and keep the juice aside.
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Remove the lid from the cooker and turn on the heat to a medium flame. Add the tamarind juice and mix well, adjust the salt level as needed. Simmer on a low flame until the sambar thickens to the right consistency.
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While the sambar cooks, prepare the tempering in a separate pan. Add oil to the pan on a low/medium flame and splutter mustard seeds. Add pearl onions, curry leaves and dry red chilies, fry for a minute. Turn off the flame and add asafetida, stir to mix. Now pour the tempering into the cooker and mix the sambar well.
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Serve hot with dosa, idli or as a side dish along with rice.