Combine flour, garlic and cayenne in a bowl. Add chicken pieces and toss to coat.
Heat a large pot or Dutch oven over medium high heat. Cook bacon, then remove to plate lined with paper towels.
Add chicken to pot and cook until browned on all sides, about 8 minutes total. Add onions, peppers and lima beans and cook about 2 minutes. Add tomatoes, vinegar, broth and Worcestershire sauce. Return bacon to pot.
Bring to a boil, then reduce heat to medium and simmer 30 minutes. Stew liquid will thicken to the consistency of gravy.