Wash hands with soap and water.

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

Cook until tender, about 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, with the remaining oil in skillet, until golden brown. Drain on paper towel.

Combine yogurt with remaining onion.