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Switch to the Contexts view. Turn on the view bar (pink sunglasses in the toolbar). From left to right, change the drop-downs to read "All Contexts", "Completed", [anything you like], "Completed", "Any", "All". Then look for the gray bar in the main window that says "Today" -- voila!
The key part is setting the second dropdown (the one with the {} symbol) to "Completed" -- grouping your tasks by when they were completed, and setting the other view dropdowns to show as many tasks as possible (Any, All). Also, it's important to be in context view, so that you can group the individual actions, rather than the projects.