Cook rice in water as directed on package, omitting salt.
Meanwhile, in 2-quart saucepan, heat onion, bell pepper, carrots, orange juice, paprika, coriander, red pepper flakes, garlic and tomatoes to boiling; reduce heat. Cover; simmer about 45 minutes, stirring occasionally, until thickened.
Remove vegetable mixture from heat. Stir in beans. In blender or food processor, place 1 cup of the bean mixture. Cover; blend on medium speed about 30 seconds or until smooth.
Stir blended mixture into bean mixture in saucepan. Cook over medium heat about 3 minutes or until hot. Serve over rice with yogurt. Sprinkle with additional paprika if desired. Serve with lime wedges.