We employ the Yukawa coupling unification condition, y t = y b = y τ at M GUT , inspired by supersymmetric SO(10) models, to estimate the lightest Higgs boson mass as well as masses of the associated squarks and gluino. We employ non-universal soft masses, dictated by SO(10) symmetry, for the gauginos. Furthermore, the soft masses for the two scalar Higgs doublets are set equal at M GUT , and in some examples these are equal to the soft masses for scalars in the matter multiplets. For µ > 0, M 2 > 0, where M 2 denotes the SU (2) gaugino mass, essentially perfect t-b-τ Yukawa unification is possible, and it predicts a Higgs mass of 122 -124 GeV with a theoretical uncertainty of about ±3 GeV. The corresponding gluino and the first two family squarks have masses 3 TeV. We present some LHC testable benchmark points which also show the presence of neutralino-stau coannihilation in this scenario. The well-known MSSM parameter tan β ≈ 47.