Add the beef and tomato paste, cook until browned on all sides, stirring occasionally. Add the onion, carrot, celery, and garlic to the pot and sauté for a few minutes, until the onion is translucent. Add the thyme, rosemary, salt, and pepper, and stir to combine. Stir in the beef broth, potatoes, and parsnips to the pot and stir to combine. Cover the pot and let the stew simmer for 30 minutes, or until the vegetables are tender and the beef is tender.