Heat the olive oil in a large pot over medium heat. Add the onion and cook for 4 minutes until it softens.
Stir in the garlic, carrots, parsnips, and sweet potato. Cook for 5 minutes, stirring now and then.
Add the smoked paprika and thyme. Stir for 1 minute so the spices coat the vegetables.
Pour in the vegetable broth and bring the mixture to a simmer.
Add the navy beans, salt, and pepper. Simmer uncovered for 20 minutes until the vegetables are tender.
Remove from heat and stir in the fresh parsley before serving.