In a small bowl mix together vinegar, olive oil, lemon juice, minced garlic, salat, pepper.
Snap ends off asparagus, wash to remove soil and debris and place in a zip lock bag. Pour the vinegar mixture over the asparagus and let sit for 30 minutes.
Place on hot grill and grill each side about 5 minutes or until stalks are tender.
*Tip: To help prevent stalks from falling through the grates of the grill, bunch 5 stalks side by side and stick a toothpick through the bottom and top to hold them in place.