Hearty Lamb and Lentil Stew

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