Trim lamb; cut into bite size cubes. In bowl, toss lamb with flour. In Dutch oven, heat half of the oil over medium-high heat; brown meat, in batches and adding more oil if needed. Transfer to plate and set aside.
Add onions and garlic to pan; cook, stirring occasionally for 5 minutes or until softened. Add beef stock and tomato paste; bring to boil, stirring to scrape up brown bits.
Return meat to pan along with rosemary, salt and pepper. Reduce heat to medium-low; cover and simmer for about 1 hour or until meat is tender. ( Stew can be prepared to this point, cooled in the refrigerator and frozen for up to 2 weeks. Thaw completely in the refrigerator, about 36 hours; reheat over medium-low heat for about 15 minutes stirring occasionally.)
Scrub and cut potatoes into bite size chunks. Trim asparagus; cut into 1 1/2 inch pieces. In saucepan of boiling salted water, cook potatoes for 6 minutes. Add carrots; cook for 2 minutes. Add asparagus; cook for 4 minutes or until potatoes and carrots are tender. Drain vegetables and add to stew along with peas; heat through.
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