Cook pasta to al dente, as directed on package; rinse and set aside.
While pasta cooks, cut asparagus into 2 inch long pieces. Heat 1 tablespoon olive oil in a large skillet over medium. Add asparagus and cook for 3-4 minutes; remove and set aside.
Add the remaining olive oil; heat again over medium. Mince garlic and add to skillet; cook for 1 minute. Add shrimp (cleaned and deveined) and cook until it turns pinks, approximately 5 minutes.
Add the asparagus back in along with the salt, pepper, cheese, and zest of 1/2 the lemon. Add pasta and toss to coat evenly. Stir in desired amount of parsley; serve warm with grapes on the side.