I got this from a friend. It's one of those easy recipes that makes people think you know what you're doing in the kitchen. I love those. (As with all of my recipes, I guessed on the amounts cause I always just eye it.)
In a skillet: Sautee onions in the drippings for a couple of minutes then add bacon. Let cook over med. heat for a few minutes.
Add asparagus and vinegar and salt. Let cook for 5- 10 minute over med. heat.
Stir in brown sugar (this is optional but man, it contrasts the vinegar very well) and either: a)cover and cook on stovetop to desired tenderness or b)broil to desired tenderness (He broils his but I live in an apartment w/ limited resources so I just cook in skillet til tender.).