Cook brown rice according to package directions. While the rice cooks, halve sausage links lengthwise and slice. Chop onion, celery, and bell pepper. Slice carrot and mince garlic.
Heat a large nonstick skillet over medium-high. Add sausage; cook 5 minutes or until lightly browned. Stir in onion, celery, bell pepper, carrot and garlic; cook 8 minutes.
Drain and rinse beans. Mash 1/2 cup beans with a fork. Add mashed beans, remaining 2 1/2 cups beans, chicken broth, and ground red pepper to sausage mixture. Bring to a simmer; cook 8 to 10 minutes or until vegetables are tender, stirring occasionally. Stir in half the parsley and the vinegar.
Divide rice among 6 bowls; top evenly with bean mixture. Sprinkle with remaining parsley.