Begin by washing and trimming the tough ends off your asparagus.
In a mixing bowl, combine the olive oil, minced garlic, salt, and pepper. Toss in the asparagus ensuring each spear is well coated.
Heat up your grill to medium-high heat.
Once hot, place the asparagus on the grill. Make sure they’re not too close together.
Grill for about 3-4 minutes on each side, or until they have nice grill marks and are tender.
During the last minute of grilling, zest your lemon over the asparagus, making sure to evenly distribute.
Remove the asparagus from the grill and squeeze the lemon juice over the top.
Sprinkle with chopped parsley for that extra fresh touch.