COVER bottom of 13x9-inch pan with graham wafers.
ADD milk to dry pudding mix in large bowl. Beat with wire whisk 2 min. or until well blended. Stir in pineapple and yogurt; spoon over wafers. Top evenly with whipped topping; cover.
REFRIGERATE at least 3 hours or overnight. Store any leftover dessert in refrigerator.
serving size = 1 piece (80 g)