Three Beans and Bacon over Rice

The best way to describe this recipe is it  tastes just like Bush's Baked Beans or Pork n Beans.   

1/2 lb Bacon cut into small pieces ( I used turkey bacon)
1 lb Ground Beef
1/2 C Onion
1/2 C Ketchup
2 Tbsp White Vinegar
3/4 C Brown Sugar
1 tsp Salt
2 Tbsp-1/4 C Dijon Mustard
3 cans of different beans, rinsed and drained ( I used black, pinto and northern white beans)
1/2  C beef broth
4 C cooked rice

1. Fry bacon until crisp.
2. Brown hamburger and onion and drain.
3. Add next 7 ingredients and simmer on stove for 1 hour.

Serve over cooked rice.