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In the blending container of an immersion blender, combine the garlic, lemon juice, lemon zest and egg yolks. Place the immersion blender in the bowl and process in short pulses until smooth. With the motor running, add the oil in a slow, steady stream and process until smooth and blended. Season with salt and pepper.
Transfer the aioli to a small bowl, cover and refrigerate until ready to serve. Makes 2 cups.