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Boil 1 gallon of water in a 2 gallon cooking pot, covered. Do not add salt.
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Meanwhile, peel the potatoes and then cut each in half. Rinse them and drop them into a bowl of cold tap water. (You should be using nice-sized potatoes, large enough to bake -- sized between medium and large).
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When the water begins a good rolling boil, drain the potatoes from the cool water and drop them into the pot. Cover the pot until it begins to re-boil, then remove the lid and reduce the heat until the potatoes are cooking at a low boil, uncovered.
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When the potatoes are "fork-tender," drain them in a colander and return them to the pot (no heat). Cut in the two sticks of butter, add the salt and pepper, and then begin mashing the potatoes with a hand masher. (Do not use a hand mixer -- this generates "whipped" potatoes which can be a bit gluey).
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When the potatoes are pretty well mashed, begin adding the milk, 1/4 cup at a time, and stir until the desired consistency is achieved. You may not end up using the entire cup, or, you may end up using a bit more -- potato moisture varies widely.
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If you get them too thin, just re-warm them over very low heat, stirring frequently, uncovered, until they stiffen back up.
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Serve hot.
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NOTE: As you choose, you can modify these mashed potatoes by adding sour cream, garlic salt (not too much!), Parmesan cheese, etc. Honestly, I like the basic recipe, with no additions, the best.