MATCH / INDEX to return a value

Apologies what may be a basic question. I just finished training and tried to figure this out from the Formula Handbook, but struggling with the learning curve and understanding the equations.

From my snapshot above, I'm trying to search the "Milestone Status" Column for a specific value and return the "Task" name. In the snap shot above, the result should be "Discovery".

It looks like I need a combination of INDEX and MATCH, but keep getting an UNPARESABLE error.

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