1. Preheat oven to 375°F (190°C).
2. Cook lasagna noodles according to package instructions. Drain and set aside.
3. In a saucepan, heat olive oil over medium heat. Add ground beef, salt, and pepper. Cook until browned.
4. Add marinara sauce to the beef and simmer for 10 minutes.
5. In a mixing bowl, combine ricotta cheese, 1 cup of mozzarella, and ½ cup of Parmesan.
6. In a baking dish, spread a layer of meat sauce. Add a layer of noodles, then a layer of the ricotta mixture. Repeat layers, ending with meat sauce.
7. Top with remaining mozzarella and Parmesan cheese.
8. Cover with foil and bake for 25 minutes. Remove foil and bake for an additional 25 minutes, or until cheese is bubbly and golden.
9. Let lasagna rest for 10 minutes before serving.