Creating delicious Rosemary Garlic Mashed Potatoes is simple if you follow these straightforward steps:

1. Prepare the Potatoes: Start by peeling the Yukon Gold potatoes and cutting them into even-sized chunks for uniform cooking.
2. Boil the Potatoes: Place the potato chunks in a large pot and cover them with cold water. Add a pinch of salt, and then bring the water to a boil over high heat.
3. Cook Until Tender: Once boiling, reduce the heat to medium-low and allow the potatoes to simmer for about 15-20 minutes, or until fork-tender.
4. Sauté Garlic: While the potatoes are cooking, in a small saucepan, melt the butter over medium heat. Add the minced garlic and sauté for 2-3 minutes until fragrant but not browned.
5. Drain the Potatoes: After the potatoes are tender, drain them in a colander and return them to the pot.
6. Mash the Potatoes: Begin mashing the potatoes using a potato masher or a ricer. Aim for a smooth consistency without over-mashing, which can make them gluey.
7. Add Ingredients: Slowly pour in the heavy cream and garlic butter mixture. Stir thoroughly until combined.
8. Season: Fold in the chopped rosemary, and season with salt and black pepper to taste. Adjust cream and seasoning based on your preference.
9. Serve Warm: Transfer the mashed potatoes to a serving bowl, and garnish with a sprinkle of fresh rosemary for added visual appeal and taste.

These steps will guide you to create an incredible Rosemary Garlic Mashed Potatoes dish that will delight everyone.