Ground Beef Stew over Garlic Mashed Potatoes

In 12-inch nonstick skillet, cook beef and onion over medium-high heat, stirring frequently, until beef is thoroughly cooked; drain.

Stir in mixed vegetables, tomatoes, gravy, marjoram and pepper. Heat to boiling. Reduce heat to low; simmer uncovered 8 to 10 minutes, stirring occasionally, until vegetables are tender.

In 2-quart saucepan, heat water, butter and garlic salt to boiling. Remove from heat. Stir in milk, dry potatoes and parsley just until moistened. Let stand about 30 seconds or until liquid is absorbed. Fluff potatoes with fork. Serve beef mixture over potatoes.