Place eggplant in Dutch oven; add 1/2 cup water. Bring to a boil. Reduce heat; simmer 8 to 10 minutes or until eggplant is soft, stirring occasionally. Remove eggplant from Dutch oven; set aside. Wipe Dutch oven dry.
Heat oil in same Dutch oven over medium-high heat until hot. Stir in onions, carrots, zucchini, garlic, basil and fennel seed. Reduce heat to medium; cook and stir 7 to 9 minutes or until vegetables are soft.
Add eggplant and vinegar; cook and stir over high heat until all liquid evaporates, about 1 minute. Add tomatoes and beans; continue cooking 3 to 5 minutes or until thickened. Stir in parsley. Serve over hot cooked rice.