1. In a large saucepan or deep skillet, heat oil over medium heat. Saute onion for 2 to 3 minutes.
2. Add tomatoes, picante sauce, chili powder, cumin, and salt; mix well. Reduce heat to low, cover, and simmer 10 minutes.
3. Add remaining ingredients, cover, and simmer 10 more minutes, or until vegetables are tender.
For a change of flavor, you can use black beans instead of red kidney beans, so go ahead and use your favorite.