Place oil and garlic in large pot or dutch oven. Cook for 1-2 minutes until garlic softens.
Add sausage and cook over medium-low heat until browned and no longer pink inside, about 5-8 minutes. Break the sausage up into bit size pieces.
Add diced vegetables and seasonings. Stir well and slowly add the broth, lentils and quinoa. Turn heat to high and bring it to a boil. Once boiling, cover the soup and reduce heat to low. Simmer for 45-60 minutes until lentils become soft. Add kale in the last 5-10 minutes. Serve immediately. Top with grated parmesan cheese if desired.