2 tablespoons extra-virgin olive oil
5 small carrots, diced small
1 medium red onion, diced small
4 garlic cloves, minced
3/4 pound cremini or button mushrooms, trimmed and coarsely chopped (4 cups)
Coarse salt and ground pepper
9 sprigs thyme
3/4 pound brown lentils (1 3/4 cups)
2 tablespoons soy sauce
2/3 cup nonfat plain Greek yogurt, for serving