Rinse and soak the millet for 1/2 hour or more.
Sauté onion, garlic, and celery in olive oil over medium heat for 5 minutes or until onion is soft.
Add yams, chickpeas, millet, cumin, turmeric, nutmeg, lemon slices, water, salt and pepper. Bring to a boil, reduce heat and simmer for 20 minutes or until yams and millet are cooked.
Add cilantro and serve.
Makes 4 servings