Ok so I cheated on the Falafel by using a mix. If you want a recipe for falafel, check here.
The recipe for the sauce was also found at the above site but I paired it down.
Tahini Sauce 1/4 cup tahini 1/4 cup fresh lemon juice 1/4 cup water parsley (optional)
Mix all together and enjoy on your Falafel. Many recipes call for the falafel to be placed on pita bread and spread with the sauce. I like to skip the bread all-together. I definitely like to have the sauce with the falafel instead of eating it plain.