Heat olive oil in a 2-quart saucepan over medium-high heat. Add the quinoa and saute until quinoa dries out and is lightly toasted (it will make popping noises, then start to brown), about 5 minutes.

Pour in the water and add the marjoram, salt, thyme, rosemary and black pepper. Bring to a boil, reduce heat to low and cover. Simmer about 15 minutes. Remove pan from heat, but keep the lid on. Steam for an additional 5 to 10 minutes, or until water is absorbed.

Stir in the fresh parsley, lemon juice and zest and serve.