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Grill the sausages for 10-12 mins, turning frequently. Meanwhile, peel and roughly chop the parsnips and potatoes, then cook in boiling salted water for about 10 mins. Shred the brussels sprouts, add to the pan for the last 2-3 mins and cook until all the vegetables are tender.
Drain and mash the vegetables, then beat in the milk and mustard with salt and pepper. Serve with the sausages.
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