Cook the rigatoni pasta according to the package instructions. Drain and set aside.
In a large pot, cook the ground beef over medium heat until browned. Drain any excess fat.
Add the marinara sauce, oregano, basil, and minced garlic to the pot with the ground beef. Stir to combine and let simmer for 10 minutes.
In a large mixing bowl, combine the cooked rigatoni pasta with the sauce mixture. Stir until the pasta is well coated.
Transfer half of the pasta mixture to a baking dish. Sprinkle half of the mozzarella and Parmesan cheese over the pasta. Add the remaining pasta mixture on top and sprinkle with the remaining cheese.
Bake in the preheated oven for 20-25 minutes, or until the cheese is melted and bubbly.
Remove from the oven and let it cool for a few minutes before serving.
Notes:
This casserole can be prepared ahead of time and refrigerated until ready to bake.