Cook lasagna noodles according to package directions, then drain and set aside. Brown ground beef in a large skillet, drain excess fat, and stir in marinara sauce.

In a medium bowl, combine ricotta cheese, egg, salt, and pepper. In another bowl, mix mozzarella and parmesan cheeses.

Spread a thin layer of meat sauce on the bottom of a 9x13 inch baking dish. Arrange a layer of cooked noodles over the sauce, then top with half of the ricotta mixture, followed by a layer of meat sauce and half of the mozzarella/parmesan mixture.

Repeat the layers: noodles, remaining ricotta, meat sauce, and the rest of the mozzarella/parmesan cheese. Finish with a final layer of noodles and meat sauce, ensuring all noodles are covered.

Preheat oven to 375°F (190°C). Cover the baking dish with foil and bake for 25 minutes. Remove foil and bake for an additional 20 minutes, or until cheese is bubbly and golden brown.

Let the lasagna rest for 10-15 minutes before slicing and serving to allow it to set.