Working in batches, puree the mango, orange juice, yogurt, and lime juice, using a blender, food processor, or hand blender until smooth. Taste and add more lime juice, if necessary. Chill for at least 2 to 3 hours and serve cold.
For a picnic, pour soup into a thermos so that it stays fresh and cold.
Recipe adapted from Debra Ponzek and Geralyn Delaney Graham, The Summer House Cookbook, Potter, 2003