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Spray a non-stick pan with oil and heat. Add onion and fry until soft. Add the garlic, lentils, mushrooms and marjoram. Cook for 5 minutes, stirring occasionally.
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Stir in tomatoes and zucchini or beans. Season with salt and pepper and simmer for 5 minutes, or until zucchini is tender.
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Meanwhile, cook pasta as per packet instructions. Drain and serve on plates and top with pasta sauce.