In a heavy-based saucepan over medium heat, add oil, onion, thyme, and marjoram. Sauté for about 5 minutes until onions become translucent.
Add lamb and Worcestershire sauce, braising for 5 to 10 minutes until the meat is browned on all sides.
Stir in tomatoes, rosemary, beef stock, vegetables, salt, and pepper. Mix well, breaking up the tomatoes with a spoon.
Reduce heat to low-medium, cover, and simmer for 15 minutes.
Lower the heat further, sprinkle flour over the mixture, and blend thoroughly. Cover and cook for about an hour, stirring frequently to prevent burning. Adjust seasoning to taste.