Pressure cook toor dal (yellow pigeon peas)along with turmeric powder, shallots, asafoetida and required water until it is done then mash it well.
Soak tamarind in hot water,extract the juice and discard the pulp keep it aside.
Heat 1 tbsp oil in a pan add all above mentioned roast ingredients and roast until coconut turns light golden brown on low flame.When it is cool grind it to a smooth paste and keep aside.
Wash and cut all the vegetables then add them into cooked dal with little water (except ladies finger, tomatoes, curry leaves and green chilli)and cook until it is done.
When the vegetable is almost cooked add ladies finger, cubed tomatoes, green chilli, curry leaves, salt, tamarind juice and jaggery. Stir well and cook on medium flame for 10 to 12minutes.(stir occasionally to prevent sticking).
Now add ground coconut paste, stir and adjust salt and consistency of the sambar then allow to boil.(sambar should not be too thick nor too thin).
When it boiling, switch off the flame. Temper the sambar with all tempering ingredients.Sprinkle chopped cilantro and cover the pot for 5minutes.
So our tasty and yummy sambar is ready....Enjoy!!!!!!!!!!!!!!!!!!!!!!!.