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Place potatoes into a large pot and cover with salted water; bring to a boil. Reduce heat to medium-low and simmer until tender, 20 to 25 minutes.
Meanwhile, melt butter in a small saucepan over medium-low heat. Add garlic and sauté until soft, about 5 minutes.
Drain potatoes and return to the pot. Add garlic-butter mixture, milk, Parmesan cheese, parsley, salt, and pepper; mash until smooth.