Combine garlic, 1 Tbsp of parsley, zest of the lemon, and half of the lemon juice, 2 Tbsp of olive oil, salt, and pepper in a large resealable plastic bag and mix to combine. Add chicken breasts. Allow to marinate for two hours if possible.
Preheat oven to 375F. Heat heavy pan, such as cast iron skillet, on stove over medium high heat.
When pan is hot, add a small amount of olive oil to pan and remove chicken from marinade. Reserve this marinade. Place chicken skin/breast side down in the hot pan to sear for 5 minutes or until lightly browned.
While chicken skin is browning, put quartered potatoes in a bowl and pour the remaining marinade over the potatoes. Season with salt and pepper and stir.
Lightly spray a sheet pan with cooking spray or olive oil. Remove chicken from pan and place on baking sheet. Pour potatoes around the chicken in a single layer.
Bake chicken and potatoes for 30 minutes.
While chicken and potatoes bake, place asparagus in a bowl and toss with the remaining 1 Tbsp of olive oil and the remaining lemon juice. Season lightly with salt and pepper.
Remove sheet pan from the oven and stir the potatoes. Pour asparagus on the pan spread out in a single layer as much as possible. Top with the pieces of bacon. You may add slices of lemon to the pan if desired.