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Heat a large skillet over medium-high heat. Cook sausage, until browned on both sides, about 5 minutes. When cooked, remove from pan and set aside.
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Add olive oil to pan and heat until oil shimmers. Add mushrooms and cook, without stirring until mushrooms are browned. Stir and brown on the other side. Remove mushrooms and set aside.
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Add onions and peppers to pan and cook over medium-high heat until onions and peppers are tender and lightly browned, about 5 minutes. Add garlic and saute 1 minute. Add Madeira wine scraping up any browned bits.
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Add stock and then barley. Bring mixture to a boil and then cover and reduce heat to a simmer. Simmer for 10 - 15 minutes until barley has absorbed all the liquid. Stir in reserved mushrooms and sausage. Taste and adjust seasoning. Stir in parsley. Serve