Heat oil in medium saucepan over medium-high heat. Add carrot, zucchini, onion, bell pepper, paprika, cumin, and turmeric; cook, stirring frequently, for 5 minutes, or until tender. Add quinoa, zest, lemon juice, and parsley to cooked vegetables; heat over medium heat for 2 to 3 minutes, or until heated through. Fluff with a fork and serve.