Place all of the ingredients, except the cilantro, in small pot and bring to a boil.
Cook over medium heat for 12 minutes, stirring occasionally so it doesn't stick to the bottom of the pot.
Add the cilantro and cook for another 3 minutes. The carrots should be very soft and the lentils should be broken down.
Take the pot off the heat and let it cool for a few minutes. If this mixture is too thick, it can be thinned out with breast milk, baby formula, or water as needed.