In a large non-stick skillet, over medium-high heat, fry the bacon until crispy. Use a slotted spoon to transfer bacon to a plate lined with paper towels to drain. Pour off any remaining bacon fat from the pan and return to medium-high heat.
Add the beef, onion, and garlic to the hot pan. Cook, breaking up with a wooden spoon, until no pink remains, about 3 minutes. Drain off fat and return pan to heat.
Add the can of beans with their sauce, stir well and bring up to a simmer for a few minutes to thicken.
Remove the pan from the heat and stir in the parsley.
To serve, stack 2 lettuce leaves, scoop desired amount of filling, and top with shredded cheese, guacamole, and pico de gallo.