Grill or lightly fry sausages until cooked and nicely browned. Slice each sausage into 3 or 4 pieces and set to one side. Add olive oil to a frying pan and fry onions until soft. Add bacon and garlic to the pan and continue to fry until the bacon is cooked.
Now add the mushrooms and continue to fry for approximately 5 minutes or until mushrooms are soft. Pour in the beef stock, tomato paste and paprika powder and bring to a simmer, stirring well.
Add the cooked sausage pieces and continue to simmer for 5 more minutes. Turn off heat.
Stir in yogurt, mix well until heated through. Serve with mashed potato or rice.