The way I usually do it is to rinse the lentils and then cover it with cold water in a pot. Bring to a boil, then lower heat down to a gentle simmer until tender (~20-30min). When lentils are done, season as needed.
TheKitchn advocates a 2:1 water to lentils ratio but I found that it's sometimes not enough and you can easily drain the excess water after cooking if needed. Here's their easy to follow instruction http://www.thekitchn.com/how-to-cook-dried-lentils-116321
There's also this post on using other varieties of lentils than green (http://www.washingtonpost.com/lifestyle/food/lentils-common-varieties-and-how-to-cook-and-use-them/2014/01/07/6cf88616-74cc-11e3-8def-a33011492df2_story.html). Some lentils do cook up mushier than others. Hope that helps.
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TheKitchn advocates a 2:1 water to lentils ratio but I found that it's sometimes not enough and you can easily drain the excess water after cooking if needed. Here's their easy to follow instruction http://www.thekitchn.com/how-to-cook-dried-lentils-116321
There's also this post on using other varieties of lentils than green (http://www.washingtonpost.com/lifestyle/food/lentils-common-varieties-and-how-to-cook-and-use-them/2014/01/07/6cf88616-74cc-11e3-8def-a33011492df2_story.html). Some lentils do cook up mushier than others. Hope that helps.