Cut each piece off the bone and into quarters (large chunks). Put flour, a generous amount of pepper, and a pinch of salt into a bowl and mix together. Coat beef pieces, including bones, in flour mixture, shaking off excess.
On fairly high heat, brown beef on both sides in the olive oil in a large saucepan. Turn down to a gentle sizzle and stir through onions and garlic. Fry until lightly browned and cooked through. Stir through capsicum and carrots and fry for a few minutes.
Add tomatoes, rosemary and lemon rind. Bring to the boil, then simmer, covered, on low heat until sauce is thick and meat is tender. This step can be completed in the oven, a slowcooker, or on the stovetop.
Just before serving, season to taste and add peas, sugar and parsley.