Juice half of the lemon with a lemon juicer or your hands, in a small bowl. Finely mince or grate the garlic. Mix the lemon juice and garlic together.
Cut or snap off the ends of the washed asparagus. In a medium pan over medium-high heat, add the olive oil. Toss the asparagus into the pan, cook for 2-3 minutes. Stirring often.
When the asparagus has started to slightly turn brown, add the lemon-garlic mixture. Season with salt and pepper. Cook for 1-2 minutes. Stirring often.
Asparagus is done when it is no longer hard but is not floppy. When you put your fork into a piece there shouldn’t be much resistance. Divide between plates and serve immediately.