Do lentils need to be soaked? Everything I have read says that you do not need to soak lentils like you would beans.  Unfortunately the last several times I have cooked lentils they have seemed a little chalky.  

Should I be soaking my lentils before I cook them?
No, it's not necessary. You can do it, and if you'd soak them for about an hour, the cooking time will diminish strongly (half).

I'm not sure if this would affect the chalky taste.
Which kind of lentils do you use?