Preheat oven to 400 degrees F. Cut 4 sheets of aluminum foil (about 15 inches long). Divide asparagus between the 4 sheets of foil. In a small bowl, whisk oil and garlic. Drizzle 1 tsp over the asparagus. Lay salmon fillets on top of asparagus and drizzle the salmon with the remaining olive oil mixture. Sprinkle with salt and pepper. Top each fillet with 2 lemon slices and 1 tsp of fresh parsley.
Fold foil over salmon to make individual packets, place packets on a baking sheet, and bake for about 25-30 minutes, or until cooked through. Once cooked, be careful when unwrapping the foil as heat escapes. Serve warm and enjoy!