Please note: I made this batch of palkova in the microwave and have step by step pictures of that process. Although I haven't tried it myself, I suggest following this process on the stovetop using a heavy-bottomed pan and low heat. The stages of palkova should look very similar as below.

Pour the condensed milk in a large glass bowl (if using the MW). The condensed milk will boil and rise substantially so make sure you use a large enough bowl.

Microwave for 1 minute on high power. If the condensed milk seems to be almost bubbling over, stop the microwave, let it settle (for a few seconds), and then switch it on again. My MW, as do most, has a stop-start option so I used that.

Add 1 tsp curd to the hot condensed milk

mix well, and cook in the microwave for another minute.

The condensed milk will keep bubbling to the top so stop and start the MW as many times as you need. I had to do this roughly every 10 seconds and it was quite annoying and time consuming. If on the stove stop, you can just keep mixing the condensed milk as it curdles due to the yougurt we add (which is the desired result).

Repeat this step of adding curd one more time and cook again for 1 minute.

By this time, the condensed milk would have curdled well (if not, you can do one more round of yogurt+cook but this shouldn't be necessary for this amount of condensed milk).

Keep cooking in the MW in bursts of 10 seconds until the palkova forms - thick and curdled like in the picture below.

You don't want it to become too dry because the mixture continues to cook even after you stop - it's very very hot - so be careful when handling it or if you decide to take a taste.