Scrub potatoes and cut into eighths. Clean garlic, leaving cloves whole.
Place potatoes and garlic in a large stockpot and cover with water. Bring to a boil over medium high heat and cook until potatoes and garlic are tender, about 18 to 20 minutes.
Drain potatoes and garlic. Place in a large bowl and add butter and milk. Whip well; add yogurt and Parmesan cheese. Whip until smooth and creamy, about 3 to 4 minutes.
Place in a serving bowl and sprinkle with paprika.