Preheat grill to medium-high heat. Set a large pot of salted water on the stove, and bring to a boil.
Pat the steaks dry with paper towels, then rub with 3 cloves of garlic. Season with salt and pepper to taste, sprinkle evenly with parsley and set aside. Toss asparagus spears with olive oil and season with a little salt and pepper; set aside.
Place the butter and 2 cloves of minced garlic into a small saucepan. Squeeze half a lemon into the butter. Let simmer until the garlic has cooked.
Cook the steaks to your desired degree of doneness, 5 to 8 minutes per side for medium-rare. Plunge the lobster into the boiling water, and cook 5 to 6 minutes per pound (8 to 12 minutes for 1 1/2 pound lobsters). Cook asparagus on the grill until tender, about 5 minutes.
Plate the steak and lobster, and garnish with the two lemon halves. Serve with the hot garlic butter for dipping the lobster. Enjoy!