Place sliced pears in a freezer until completely frozen.
In a small saucepan, bring apple juice to a boil. Reduce to a simmer and stir often. Simmer juice until it reduces and reaches a caramel-like consistency. Remove and cool.
Once pears are completely frozen, place in a blender with lemon juice, yogurt, and 2 tablespoons of cooled caramel. Blend until combined. Remove from blender and place in a covered airtight container and freeze until ready to use.
To serve, scoop into a serving bowl and drizzle apple juice caramel over the top. Enjoy!