In a small bowl, combine the marinade ingredients.
Lay chicken (1 whole) cut into 8 pieces in a casserole dish or baking sheet.
Spoon marinade over the chicken, and rub to cover. Be sure to add marinade under the skin whenever possible.
Place in the fridge for 3 hours - overnight.
After marinated, remove the chicken from the container and scrape off as much of the marinade as possible. Place chicken on a clean plate.
Heat your grill to medium-high heat.
Clean the grates and brush them with vegetable oil.
Add chicken to grill and cover.
Cook on each side for about 7 minutes -- this will vary depending on how thick your chicken is and how hot the grill is -- you'll know your chicken is done once the internal temp has reached 165 F.
Use a fresh pair of tongs to remove chicken from the grill and place it on a clean plate.
Loosely cover with foil for 10 minutes before slicing.
Serve with chopped cilantro, peanuts, more yogurt, and enjoy!