Wash hands with soap and water.

Put beans and water in a large pot and soak using the overnight or quick-soak method.

Cook until tender, approximately 2 hours. Add more water if necessary. Drain.

Slowly heat oil and sauté garlic and 1 onion until tender (5 to 7 minutes).

Mash cooked beans, sautéed vegetables, parsley, salt, lemon juice, and hot pepper sauce until smooth.

With floured hands, form ovals with bean mixture (about 1/4 cup each). Roll in flour.

Fry falafel using the remaining oil in a skillet until golden brown. Drain on paper towel.

Combine yogurt with the remaining onion.