In a medium bowl combine 3/4 cup orange juice, yogurt, garlic and cayenne;
mix well. Whisk in oil. Place chicken in a shallow dish. Pour orange juice mixture
over chicken; cover and refrigerate 1 to 3 hours.
In a small saucepan combine orange marmalade, 2 tablespoons orange juice,
rosemary, and salt to taste. Place over medium-low heat and cook until marmalade
melts, stirring occasionally. Cover and keep warm.
Heat grill to medium (300 degrees F to 350 degrees F). Remove chicken from
marinade. Pour marinade into a small saucepan; bring to boiling over high heat.
Boil 3 minutes; remove from heat.
Place chicken on grill. Grill 6 minutes per side or until an instant-read
thermometer registers 165 degrees F, turning and basting frequently with the
During the last 3 minutes of grilling, brush chicken with orange–rosemary