Heat cooking oil in large frying pan or Dutch oven on medium. Add next 4 ingredients. Scramble-fry for about 10 minutes until ground beef is no longer pink. Drain.
Add next 9 ingredients. Heat and stir for about 1 minute until fragrant.
Add next 4 ingredients. Stir. Bring to a boil. Reduce heat to medium-low. Simmer, uncovered, for about 20 minutes, stirring occasionally, until slightly thickened.
Add yogurt. Heat and stir for about 10 minutes until heated through.