Heat a heavy-bottomed soup pot over medium-high heat. Cook and stir ground beef in the hot skillet until browned and crumbly, 5 to 7 minutes. Drain and discard grease.
Add onion and garlic. Cook over medium to medium-high heat, stirring often, until onions begin to soften, about 5 minutes. Add taco seasoning; cook and stir until fragrant, 1 to 2 minutes. Stir in black beans, corn, and diced tomatoes. Stir in tomato juice and scrape any browned bits of food off the bottom of the pan with a wooden spoon.
Bring to a simmer; add cilantro and squeeze juice from lime halves into the pot. Simmer until flavors have melded, 15 to 20 minutes. Season with salt and pepper.
Any type of ground meat can be used instead of beef. I’ve also used diced-up leftover Sunday roast with tasty results.
For extra lime flavor, you can simmer the lime halves in the soup. Just discard them before serving.
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