Preheat oven to 375°F (190°C).
Boil lasagna noodles according to package instructions.
In a skillet, cook ground beef until browned.
Add chopped onion and garlic, and cook until soft.
Stir in marinara sauce, basil, oregano, salt, and pepper.
Let the sauce simmer for 15 minutes, then remove from heat.
In a bowl, mix ricotta cheese, egg, and half of the Parmesan cheese.
Spread some of the sauce in the bottom of a baking dish.
Place 4 lasagna noodles on top of the sauce.
Add the ricotta mixture over the noodles.
Sprinkle mozzarella and Parmesan cheeses on top.
Repeat the layers two more times.
Cover with aluminum foil and bake for 25 minutes.
Remove the foil and bake for another 10 minutes.
Let the lasagna cool for 10 minutes before serving.