Heat oven to 350F. Combine rosemary, garlic, salt and pepper in a bowl and press on beef. Place in roasting pan. Insert ovenproof meat thermometer so tip is centered in thickest part of beef, not touching bone or resting in fat. Roast 2 1/2 hours for medium-rare (135 F) or 2 3/4 hours for medium (145F). Let stand 15 minutes before cutting into slices. Add 3/4 cup of water to roasting pan. Place pan over two stovetop burners over medium heat. Scrape up browned bits with a wooden spoon; cook 2-3 minutes for flavors to blend. Strain and serve with beef.