Drain pasta, but do not rinse! Reserve pasta cooking water.
Add minced garlic and cook for 1-2 minutes until garlic is fragrant, but not brown.
Turn heat to low and add yogurt, stirring to blend. Toss in pasta, stirring to coat pasta. Add reserved pasta water to thin sauce if necessary, 1 Tablespoon at a time.
Add zest and juice of half a lemon and salt and pepper to taste.