olive garden soup recipe

- 1 pound ground beef - 1 small onion, diced - 1 cup diced carrots - 1 cup diced celery - 2 cloves garlic, minced - 1 can (15 ounces) tomato sauce - 1 can (15 ounces) diced tomatoes - 1 can (15 ounces) red kidney beans, drained and rinsed - 1 can (15 ounces) great northern beans, drained and rinsed - 4 cups beef broth - 1 cup ditalini pasta (or any small pasta) - 1 teaspoon dried basil - 1 teaspoon dried oregano - 1/2 teaspoon dried thyme - 1/2 teaspoon dried rosemary - Salt and black pepper to taste - Fresh parsley, chopped (for garnish)