Firstly, place the sausages under the grill, at a medium heat, for 12 to 15 minutes, or until no longer pink in the centre. Remove from the heat and slice; set to one side.
Warm the oil in a saucepan over a medium heat then add the onions and cook and stir until soft. Add the garlic and cook and stir for a few minutes, followed by the mushrooms and continue to cook for 5 minutes. Pour in the beef stock, then add in the tomato puree and sprinkle in the paprika. Bring to a simmer.
Add the sliced sausages and continue to simmer for a few minutes. Finally, stir in the yoghurt and mix well. Spoon onto warmed plates and serve with a side of your choice.