Start by prepping your ingredients. Peel and devein the shrimp, then rinse and pat them dry. Trim the asparagus and cut them into 2-inch pieces. Mince the garlic cloves.
In a large skillet, heat the olive oil over medium heat. Allow it to warm for about a minute.
Add the asparagus pieces to the skillet and sauté for about 3-4 minutes, or until they are bright green and tender yet still crisp. Remove the asparagus from the pan and set it aside.
In the same skillet, add the minced garlic and sauté for about 30 seconds until fragrant. Be careful not to burn it!
Add the shrimp to the skillet with the garlic. Season with salt and pepper, then cook for 2-3 minutes on each side until the shrimp turn pink and opaque.
Pour in the heavy cream and stir to combine. Add the lemon juice and adjust seasoning to taste. Allow the mixture to simmer for 2-3 minutes until the sauce thickens slightly.
Return the sautéed asparagus to the skillet and mix everything together gently. Once everything is heated through, remove the pan from the heat. Garnish with freshly chopped parsley before serving.