Cut off the skin of the yucca with a heavy knife. Also remove the stringy core that runs down the center. It's easiest to cut the whole yucca into 3 inch slices and then cut off the skin.
Boil the yucca chunks in a large pot with salt until tender. Remove from water and sprinkle with garlic and lemon juice. Heat the olive oil and pour over yucca. Serve hot!