1. In a large soup pot, cook the ground beef over medium-high heat until browned. Drain excess fat and set aside.

2. In the same pot, melt butter. Add diced onion and garlic. Cook until softened, about 3-4 minutes.

3. Add diced carrots and cook for another 5 minutes. Sprinkle flour and stir into a roux, cooking for 1-2 minutes.

4. Slowly pour in beef broth while stirring. Return the cooked beef to the pot. Add peas, thyme, rosemary, salt, and pepper. Simmer for 15-20 minutes until carrots are tender.

5. Stir in milk or cream and reduce heat. Let warm through and adjust seasoning as needed.

6. Meanwhile, boil potatoes until fork-tender. Drain and mash with butter, milk, and salt until smooth.

7. Serve soup hot with a scoop of mashed potatoes on top. Garnish with parsley if desired.