Wash millets thoroughly and soak them for 15-20 minutes to soften.
In a pan, heat oil and sauté mustard seeds, cumin, curry leaves, and green chilies.
Add chopped onions, carrots, beans, and peas, cooking until slightly tender.
Pour in water (ratio 1:2 for millets to water) and bring it to a boil.
Drain soaked millets and add them to the pan, stirring well.
Lower the heat, cover the pan, and let it cook until the millets are soft and fluffy.
Finish with fresh coriander and a squeeze of lemon, then serve hot.