Add oil to a large frying pan on medium high heat. Add asparagus and gently shake to cover each spear with oil. Add the salt and pepper and cook, shaking every so often, until asparagus turns bright green, about 5 minutes.
Add the minced garlic to pan and cook for another 1-2 minutes until fragrant.
Remove the asparagus and spritz with a squeeze of lemon juice. Adjust salt and pepper to your liking.