Peel and quarter potatoes. Place in a large pot and cover with water and a dash of salt. Over medium-high heat, bring to a boil. Reduce to medium heat and simmer for 15-20 minutes or until potatoes fall apart when pierced with a fork. Drain into a colander.
Return empty pan to stove and over medium heat, add butter. Once melted, add garlic and saute for 1-2 minutes, or until garlic begins to brown. Remove from heat. Add milk to pan and allow to warm for a moment before adding potatoes.
Add potatoes to pan. Using a potato masher or an electric mixer, slowly blend potatoes and butter mixture together until incorporated and no lumps remain. Add more milk as needed to reach desired consistency.
Stir in chopped bacon and add salt and pepper to taste.
Yukon gold potatoes are an excellent potato for mashing. Russet potatoes will also work, but can easily be overworked and become gluey. If using russet potatoes, try not to mash and stir them too much, to avoid a gummy texture.
For a richer, creamier texture, substitute milk with heavy cream instead.