Rinse the millet and soak in 3 c. of warm water for 8-10 hours.
Rinse again and discard soak water.
Pour 2 c. warm water into a saucepan and add the millet with ½ tsp. salt. Cook covered over medium heat for 15 minutes until millet absorbs the water and is tender.
Cool the millet to room temperature and fluff. Transfer to a large bowl.
In a small bowl, whisk together the olive oil, lemon juice, salt and pepper.
Combine all ingredients together.