Preheat oven to 375°F (190°C).
Cook lasagna noodles according to package instructions. Drain and set aside.
In a saucepan, heat olive oil over medium heat. Add garlic and cook until fragrant.
Add ground beef, salt, and pepper. Cook until browned. Drain excess fat.
Stir in marinara sauce and simmer for 10 minutes.
In a mixing bowl, combine ricotta cheese and 1 cup of mozzarella cheese.
In a baking dish, spread a thin layer of meat sauce. Layer with noodles, cheese mixture, and meat sauce. Repeat layers, ending with meat sauce.
Top with remaining mozzarella and Parmesan cheese.
Cover with foil and bake for 25 minutes. Remove foil and bake for an additional 25 minutes, or until cheese is bubbly and golden.
Let lasagna rest for 10 minutes before serving.