Cover potatoes, parsnips and garlic with 1 inch of water in a 4 to 6-quart pot, then add sprig of rosemary and salt and bring to a boil, partially covered.: Warm, mineral scented steam will rise as the pot comes to a gentle boil, and you should hear a soft rolling sound in the water rather than a frantic roar. This initial simmer allows the heat to penetrate evenly, so the largest potato piece and smaller parsnip piece reach tenderness at roughly the same time. The sprig rosemary will begin releasing an evergreen note into the cooking liquid, subtly perfuming the vegetables. A common error is adding too much water, which dilutes flavor, or bringing the pot to a violent boil which can break the pieces apart. Keep it partially covered so steam aids cooking while preventing boil overs.
Reduce heat and simmer vegetables, partially covered, until very tender but not falling apart, 30 to 40 minutes.: As the simmer continues the kitchen will fill with an earthy aroma, and you can test doneness by piercing the potato and parsnip with a fork; they should offer little resistance and yield easily without disintegrating. Gentle bubbling preserves the structure so you avoid a watery mash. This slower cook helps the natural sugars in the parsnip develop, adding depth to the final taste. Avoid rushing with high heat, or the edges will break down while centers remain firm, leading to inconsistent texture.
Drain vegetables in a colander.: When you tip the pot into a colander you will hear the soft rumble of water and see the vegetables glisten as they free themselves of cooking liquid. Draining thoroughly prevents a soggy mash, since excess water can make the mixture thin and gluey when you mash. Letting them sit briefly in the colander allows residual steam to escape, which helps maintain a concentrated flavor. A frequent mistake is leaving them to sit in hot water which continues cooking them and can cause over softening.
Discard rosemary and mash warm vegetables along with sour cream, butter, pepper, and remaining pinch of salt, to taste; stir to combine well.: The warm vegetables will release a soft aroma when you begin mashing, and the texture should feel light and yielding under the masher. Adding the light sour cream , unsalted butter , and 2% milk while warm helps them melt and incorporate smoothly, creating a glossy, creamy finish. Stirring until the mash is cohesive brings out a unified flavor profile, with the garlic mellowed into the background and the parsnip sweetness shining through. One pitfall is overworking the mash, which firms starches and makes it gluey; stop when the texture is creamy but still a little airy. Taste and adjust the salt and black pepper at the end, because heating concentrates or dulls different seasonings.