Combine first 3 ingredients in a large saucepan. Bring to a boil. Cover, reduce heat, and simmer 20 minutes or until lentils are tender. Drain; discard bay leaf.
Heat a nonstick skillet over medium-high heat. Add oil to pan; swirl to coat. Add onion and tomato; sauté 8 minutes or until onion is tender. Add curry, cumin, 1/4 teaspoon salt, red pepper, and garlic; sauté 2 minutes. Add lentils; cook 1 minute. Remove from heat.
Add water to a large skillet, filling two-thirds full; bring to a boil. Reduce heat; simmer. Add vinegar to pan. Break eggs into custard cups. Gently pour eggs into pan; cook 3 minutes or until desired degree of doneness. Carefully remove eggs from pan using a slotted spoon. Place about 3/4 cup lentil mixture on each of 4 plates; top each serving with 1 poached egg. Sprinkle evenly with remaining 1/4 teaspoon salt and black pepper. Top each serving with 1 tablespoon yogurt and 1 1/2 teaspoons cilantro.
MyRecipes is working with Let's Move!, the Partnership for a Healthier America, and USDA's MyPlate to give anyone looking for healthier options access to a trove of recipes that will help them create healthy, tasty plates. For more information about creating a healthy plate, visit www.choosemyplate.gov.