Heat a large skillet over medium high heat. Add ground beef and cook until brown. Drain most of the fat and discard.
Add onions, green pepper, celery and garlic. Cook for a few minutes, or until vegetables become tender. Season with salt and black pepper.
Add ketchup, brown sugar, chili pepper, dry mustard, and water. Stir to combine and simmer for 15 minutes, adding salt and pepper to taste. Also add tomato paste and Worcestershire. Taste and adjust seasonings as needed.