Add to a medium saucepan - blueberries, sugar, vanilla, and lemon juice

Cook over medium heat, stirring occasionally, until sugar dissolves completely

Remove from heat and press on blueberries with a wooden spoon to burst the juice from them

Pour mixture into a container and put in fridge to cool a minimum of 2 hours (or in my case it became 2 days)

Once it is chilled, add to your blender or food processor and pulse until mostly smooth

Add in your yogurt and half and half, pulse again until smooth and mixed in

Pour all into your ice cream maker and follow manufacturer's directions

Serve either as soft serve or place in freezer to freeze completely