Mitochondrial aminoacyl-tRNA synthetase that catalyzes the specific attachment of the asparagine amino acid (aa) to the homologous transfer RNA (tRNA), further participating in protein synthesis (PubMed:25385316). The reaction occurs in a two steps: asparagine is first activated by ATP to form Asn-AMP and then transferred to the acceptor end of tRNA(Asn) (Probable). {ECO:0000269|PubMed:25385316, ECO:0000305}. This is the function of NARS2 (asparaginyl-tRNA synthetase 2, mitochondrial, ENSG00000137513).