Place potatoes and garlic in a saucepan. Cover with water; bring to a boil. Reduce heat, and simmer 15 minutes or until tender; drain. Return potatoes to pan. Mash to desired consistency.
Heat milk and sour cream in a small saucepan over low heat until warm, stirring constantly. Add milk mixture, salt, and pepper to potatoes, stirring until well-blended.
Note: This recipe can be cut in half easily to serve 2.