Preheat oven to 350F.
Coat a 9x13" baking dish with nonstick cooking spray. In the baking dish, combine beef, potatoes, carrots, celery, and onions. Mix well.
In a large bowl, combine tomato juice, water, tapioca, sugar, salt, and pepper. Pour over beef and vegetables.
Cover tightly with aluminum foil and bake for 2 - 2 1/4 hours.
To make ahead, follow the recipe and then chill. Bake for 2 1/2 - 3 hours.