Wash the asparagus and trim off the ends. (You can save the ends to put into homemade veggie stock!). Chop the asparagus into ~2 inch pieces. Mince the garlic.
Chop the bacon into ½ inch slices.
Cook the chopped bacon over medium heat stirring frequently for about 5 minutes, or until the bacon is crispy. Use tongs to remove the bacon bits and place the cooked bacon on a plate lined with a paper towel. If there is too much bacon drippings in the pan, drain some of it into a heat-safe bowl or absorb some with a paper towel. Leave about 2 tablespoons of bacon drippings in the pan.
Add the minced garlic to the hot pan with the bacon drippings. Sauté for 1 minute over medium heat. Add the asparagus, salt and pepper to taste, then turn up the heat to medium-high and stir fry for about 3 minutes. Turn the heat to medium-low and cover the skillet with a lid for 3 minutes.
Add the lemon juice, give everything a good stir, and then cover with a lid again and cook for about 2-3 minutes, or until the asparagus is cooked to your liking.Add the bacon back in and sprinkle with lemon zest. Stir well, adjust the flavor with salt, pepper, or lemon juice if needed. Serve immediately.