Cook rigatoni pasta in a large pot of boiling salted water until just al dente, about 1 minute less than the package directions. Drain and set aside.

In a large skillet, heat olive oil over medium heat. Add diced onion and cook until softened, about 5 minutes. Add minced garlic and cook for an additional minute.

Add ground beef to the skillet, breaking it up with a spoon. Cook until browned and no longer pink. Season with salt, pepper, and Italian seasoning.

Stir in marinara sauce and bring to a simmer. Remove from heat.

Combine the cooked pasta and meat sauce in the prepared baking dish. Stir well to ensure the pasta is evenly coated with sauce.

Sprinkle shredded mozzarella and grated Parmesan cheese evenly over the top.

Cover the dish with aluminum foil and bake in the preheated oven for 25 minutes.

Remove the foil and bake for an additional 10 minutes, or until the cheese is bubbly and golden brown.

Let the baked rigatoni rest for 5 minutes before serving.