Heat a large non-stick skillet or pot over medium heat, and sauté the mushrooms for 1-2 minutes. When mushrooms begin to exude their juices, add the garlic and continue to cook, stirring, for another minute. Do not allow the garlic to brown.
Add tomatoes, thyme, basil, rosemary, and bay leaf. Stir and bring to a boil. Add onions and salt and pepper to taste. Return to a boil, cover and simmer over low heat for 15 minutes, stirring occasionally. Remove and discard the bay leaf.
Mix in the beans, and simmer over low to medium heat until beans are warmed through, about 5 minutes. Add water, if necessary, to keep ingredients moist. Adjust seasonings and serve.