Wash asparagus in cold water and pat dry very well. Heat olive oil in a large skillet with a lid over medium high heat. Add asparagus and cook for about 2 minutes per side until it starts to brown slightly. Add garlic cloves and continue cooking for about 5 minutes, turning occasionally, until garlic and asparagus are nicely browned. Add lemon and pour in about 1 inch of water then cover with lid.

Cook for 8 to 12 minutes until most of the liquid has evaporated and asparagus is tender.

Season to taste with salt and pepper and serve hot.