Rinse the quinoa with cold water.
In a saucepan, cook the quinoa according to package directions. (Takes about 20 minutes.) Remove from heat once done cooking.
(If you haven't cooked the bacon, cook it in a skillet, drain the skillet and crumble the bacon. Then proceed...) (I usually "batch cook" bacon, so I already had some cooked.)
In a large skillet, add the olive oil, the halved Brussels sprouts and any stray leaves, the crumbled bacon, and the minced onion (finely chopped small white onion works too.). Squeeze the lemon juice into the skillet as they are sauteeing. Saute over medium-high heat for 5-7 minutes, or until Brussel sprouts have turned bright green and browned slightly. Remove from heat to prevent overcooking and burning. Stir in the pepper and salt, to taste.
Toss the bacon-Brussels sprouts mixture with the cooked quinoa. Serve warm.