With a mortar and pestle, crush garlic cloves with salt and pepper. Stir in oil, lemon juice and Worcestershire sauce., Grill steaks, covered, over medium heat 5-7 minutes on each side or until meat reaches desired doneness (for medium-rare, a thermometer should read 135°; medium, 140°; medium-well, 145°). Brush generously with garlic mixture during the last 4 minutes of cooking.