Preheat oven to 375°F (190°C).
Cook lasagna noodles according to package instructions. Drain and set aside.
In a large saucepan, heat olive oil over medium heat. Add onion and garlic, cook until softened.
Add ground beef, cook until browned. Drain excess fat.
Stir in marinara sauce, salt, pepper, basil, and oregano. Simmer for 10 minutes.
In a mixing bowl, combine ricotta cheese and 1 cup of mozzarella cheese.
In a baking dish, spread a layer of meat sauce. Add a layer of lasagna noodles, then spread a layer of the ricotta mixture. Repeat layers, ending with meat sauce.
Top with remaining mozzarella and Parmesan cheese.
Cover with foil and bake for 25 minutes. Remove foil and bake for an additional 25 minutes, until cheese is bubbly and golden.
Let lasagna rest for 10 minutes before serving.