Combine the first 3 ingredients in a large saucepan over medium heat. Bring to a simmer. Cook 30 minutes or until almost tender.
Heat oil in a saucepan over medium-high heat. Add onion, carrot, rosemary, and garlic to a pan. Cook 10 minutes stirring constantly or until tender. Add sausage, cook 5 minutes, stirring to crumble. Add tomato paste and remaining 4 ingredients; cook 1 minute or until heated.
Add sausage mixture to lentils; bring to a boil. Cook 15-30 minutes or until lentils are tender.