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Rosemary Grilled Chicken Thighs

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1 garlic clove, pressed

1 tablespoon olive oil

2 tablespoons dijon mustard

2 tablespoons honey

1 teaspoon salt

1 teaspoon chopped fresh rosemary*

1/2 teaspoon pepper

1 1/2 pounds skinned and boned chicken thighs**

1/2 lemon

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