Add ½ cup millets to a pot and wash thoroughly. Drain completely. Add 1 ½ cups water, salt as needed to the pot and allow to soak for a while. You can also skip soaking.
Cook them on a medium flame until all the water is absorbed, but slightly soggy. Cover the pot and simmer on the lowest heat until completely cooked. Fluff gently with a fork and cool completely.
How to make lemon millet
Heat a pan with oil. Add mustard when they begin to splutter, add chana dal, urad dal, cashews and red chili, green chili.
When the dals turn slightly golden, add curry leaves, ginger and green chili.
Curry leaves turn crisp very soon. Then add turmeric and hing. Pour 3 to 4 tablespoons water and cook until all of the water evaporates. This will soften the dals and bring out the aroma of spices. Turn off the heat.
Add the cooled millets and squeeze in the lemon juice. Mix everything well.
Serve lemon millet rice with curd, veg sald, papad or pickle.