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Using a silicone whisk, stir together the yogurt and milk until smooth.
Close and lock the lid, leaving the steam release valve OPEN. Press YOGURT and leave it on low temperature. Set time for anything between 8-12 hours. The longer you cook the more tart the flavor will be. I like mine to cook for 9 hours.
Once the yogurt has reached the desired taste (or the cooking cycle has ended) press START/STOP. Remove the inner pot, cover with foil and place in the refrigerator for at least 4 hours. Yogurt will thicken slightly as it cools.
If you want thicker, Greek-style yogurt, simply strain it through some cheesecloth until the desired consistency is reached.