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Heat the oil over medium heat in a large sauté pan. When it is hot, add the onions with a pinch of salt. Sauté until golden, about 7-10 minutes. If the onions start to stick and you need to deglaze, use a splash or 2 of red wine.
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Add the mushrooms in 3 batches to avoid overcrowding and steaming the mushrooms (they will shrink to make room). Add salt to taste as you add the mushrooms--mushrooms and beef will both need a fair amount of salt. When the mushrooms are golden and have released most of their water, add the tomato paste and garlic. Stir and cook for 30 seconds.
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Add the ground beef with salt and black pepper to taste. Cook, stirring occasionally, until browned and no pink remains.
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Add half of the minced rosemary and the red wine. Stir to incorporate and then let simmer briskly until the liquid evaporated.
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Add the remaining rosemary and mix in. Let cook for 1 minute.
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Turn the heat off and let cool for a minute. Add the parsley and yogurt and completely mix in.
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Serve over egg noodles.