Hearty Lamb and Lentil Stew

Name: Hearty Lamb and Lentil Stew
Ingredients: 1 pound lentils, rinsed and picked over to remove debris; 1/2 pound lean lamb cubes; 6 cups reduced-sodium vegetable or chicken broth; 1 (28-ounce) can diced tomatoes; 3 tablespoons tomato paste; 1 tablespoon balsamic vinegar; 1 chopped onion; 2 celery stalks, chopped; 2 carrots, chopped; 3 cloves garlic, minced or 3 teaspoons pre-minced garlic; 2 teaspoons dried rosemary; 1 teaspoon dried thyme; 2 bay leaves; 1/4 cup chopped fresh parsley leaves; Salt and ground black pepper