Wash the salmon steaks under cold running water and pat dry with a kitchen towel. Set aside.
In a large bowl, combine garlic, rosemary, olive oil, salt, pepper, parsley, and lime juice. Mix until well incorporated and soak the steaks in this marinade. Using a spoon, coat well and refrigerate for 30 minutes.
Preheat the grill to a medium-high heat. Drain the steaks and place on a grill.