How can I create a delicious and filling shepherd's pie from scratch?

Shepherd's pie is a hearty, comforting dish that's perfect for a cozy night in. To make a delicious and filling shepherd's pie from scratch, follow these simple steps:

• Peel and chop 4 large potatoes, and place them in a pot of cold water. Bring to a boil and cook until the potatoes are tender. Drain the potatoes and mash them with 1/4 cup of milk, 1/4 cup of butter, and salt and pepper to taste.
• In a large skillet, heat 1 tablespoon of olive oil over medium-high heat. Add 1 chopped onion and 2 minced garlic cloves, and sauté until the onion is translucent. Add 1 pound of ground beef and cook until browned. Drain any excess fat.
• Add 1 cup of beef broth, 1 tablespoon of Worcestershire sauce, and 1 tablespoon of tomato paste to the skillet. Bring to a boil and then reduce heat and simmer for 10 minutes.
• Add 1 cup of frozen mixed vegetables (peas, carrots, and corn) to the skillet and cook for 5 minutes.
• Preheat your oven to 375°F. Pour the beef mixture into a 9-inch baking dish. Spread the mashed potatoes on top of the beef mixture, making sure to cover the entire surface.
• Bake for 20-25 minutes, or until the potatoes are golden brown and the beef mixture is bubbling around the edges. Let cool for a few minutes before serving.