In a blender, combine the garlic, sliced shallot, vinegar, mustard, olive oil, salt and pepper. Process until smooth.
In a large, heavy saucepan over low heat, cook the bacon, until crisp, about 8 minutes. Transfer to paper towels to drain.
Cook the lentils
Return the saucepan to low heat, add the minced shallots to the bacon fat and cook, stirring occasionally, until softened, about 4 minutes.
Add the lentils, broth and enough water just to cover the lentils. Bring to a boil, reduce the heat to low, cover and simmer gently until just tender but not mushy, about 20 minutes. Add a little more water if the lentils become too dry. Remove from the heat and let stand, covered, for 5 minutes. Immediately add half of the vinaigrette and toss to combine.
Assemble the salad. Scatter the frisée on individual plates and spoon the lentils over the top. Drizzle a little vinaigrette over the salads, sprinkle with the bacon, drizzle balsamic glaze over top, and serve immediately.