Rinse urad dal until water runs clear. Soak dal in water for 1 hour. Similarly, rinse rice until water runs clear. Soak in a separate bowl for 15 minutes.
Once you are ready to prepare khichdi, drain all the water from lentil and rice. Keep them next to the stovetop.
Heat ghee in a pressure cooker over medium flame. Once hot, cumin seeds, red chilies, cloves, cinnamon, black cardamom, grated ginger, and asafoetida. Fry for 20 seconds.
Add chopped onion. Saute onion till light brown in color. This takes 1 minute.
Add lentils (dal), red chili powder, turmeric, and saute precisely for 1 minute. This step enhances the flavor of khichdi.
Next, add rice, mix nicely with other ingredients in the pressure cooker. Add water, salt, and garam masala. At this stage, taste khichdi liquid and if required season with more salt/spices.
Close the lid of the pressure cooker. Cook khichdi for 2 whistles over low to medium heat. Allow the steam to release naturally from the pressure cooker.
Open the lid and fluff the khichdi using a fork or spoon.
Serve Urad Dal Khichdi warm with ghee, papad, and achaar.