You don't have to soak the dal, Its faster, so I do. The idea is to not make the dal mushy. Quality of dal and pressure cookers vary, so please be careful to not over cook the dal.
If you don't have a pressure cooker, you may cook in a pot, adjust cooking time and water accordingly.For a milder version,omit the chopped green chilies and Red chili powder. You may substitute paprika for the Red chili powder for some color.