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.
Chop the bacon into 1/2 inch slices.
Cook the chopped bacon over medium heat for about 5 minutes, or until the bacon is crispy. Drain the bacon fat into a small heat-proof bowl (i.e. not plastic) and place the cooked bacon on a plate lined with a paper towel so the extra fat can be absorbed.
Add 2 tablespoons of bacon grease back to the skillet and add the minced garlic. Saute for 1 minute over medium heat. Add the asparagus, salt and pepper to taste, 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 and serve warm.