Meanwhile, heat dressing in medium saucepan on medium heat. Add vegetables; cook 6 to 8 min. or until softened, stirring occasionally. Add broth, lentils, bacon and garlic; stir. Bring to boil; cover. Simmer on medium-low heat 30 to 40 min. or until lentils are tender, stirring occasionally. Remove from heat. Stir in rosemary and Worcestershire sauce.