Using a vegetable peeler, peel zucchini into ribbons or, make zucchini noodles with a julienne or spiral peeler . Combine quinoa and zucchini in a bowl.
In a dry skillet, lightly toast pine nuts. Set aside and let cool slightly. In a food processor, pulse garlic. Add in basil, pine nuts, parmesan cheese, olive oil, and lemon juice. Pulse until well combined, adding more olive oil lemon juice, or water as needed to thin consistency.
Toss pesto with zucchini and lentils. Pack away for a picnic or eat right away.