My Favorite Millet Pilaf

I have recently made a millet pilaf that I really like - my favorite by far.  I'm throwing up the recipe now before I forget what I did!

1 cup millet
2 cups water
1/2 tsp. salt

2 tbsp. olive oil
1/2 cup diced onion
2 cloves garlic, minced
2 carrots, peeled and diced
1 stalk celery, diced
1/4 tsp. salt
1/8 tsp. pepper
1/4 tsp. dried thyme
fresh chopped parsley, if desired
1/4 cup chicken or