Gather all your ingredients: egg yolks, garlic, mustard, lemon juice, olive oil, salt, and pepper.
In a mixing bowl, combine the egg yolks, minced garlic, Dijon mustard, and lemon juice.
Whisk the mixture vigorously until well combined and slightly thickened.
Begin to add the olive oil in a slow, steady stream while continuously whisking.
Continue adding oil until fully incorporated and the mixture thickens.
If the aioli is too thick, add a teaspoon of water to reach your desired consistency.
Season with salt and pepper to taste, adjusting as necessary.
Transfer the aioli to a serving bowl and cover with plastic wrap.
Chill in the refrigerator for at least 30 minutes before serving.
Serve with fresh vegetables or use as a spread.