1. Place carrots in a medium saucepan. Cover with water and add salt. Bring to a boil. Reduce heat to medium-low, cover, and continue cooking for about 15 minutes, or until tender. Drain and set aside.
2. In a sauté pan, melt butter over medium-low heat. Add honey and brown sugar and cook, stirring, until sugar is dissolved. Add the lemon and orange juice and orange zest and gently stir in carrots, coating well. Continue heating, gently stirring, until carrots are hot and glazed. Serve immediately garnished with freshly ground pepper or chopped parsley, if desired.