1-First Step: Prepare Your IngredientsGather all marinade ingredients and chicken pieces (such as 6 chicken breasts or 3.5 pounds of assorted chicken parts). Trim any excess fat and pat the chicken dry for optimal marinade absorption. Optionally, lightly score the chicken to help flavors penetrate.

2-Second Step: Mix the MarinadeIn a large bowl or resealable plastic bag, combine ½ cup olive oil, ½ cup balsamic or red wine vinegar, ¼ cup low sodium soy sauce, ¼ cup Worcestershire sauce, lemon juice and zest from 2 large lemons, ¾ cup brown sugar (or 1 tablespoon honey), rosemary, mustard, salt, black pepper, and garlic powder. Whisk or shake well until fully blended.

3-Third Step: Marinate the ChickenPlace the chicken pieces into the marinade mixture, ensuring each piece is thoroughly coated. Seal the bag or cover the bowl and refrigerate for a minimum of 30 minutes to up to 24 hours, ideally 4 to 6 hours for best flavor development.

4-Fourth Step: Preheat the GrillPreheat your grill to medium-high heat (about 375-450°F). Lightly oil the grill grates to prevent sticking for an even cooking surface.

5-Fifth Step: Grill the ChickenRemove chicken from the marinade, letting excess drip off. Grill each piece 4 to 6 minutes per side, basting occasionally with reserved marinade (never reuse marinade that has touched raw chicken without boiling first). Monitor internal temperature aiming for 165°F to ensure safety and juiciness.

6-Sixth Step: Rest and ServeLet grilled chicken rest under foil for 5 to 10 minutes after removing from heat to redistribute juices. Optionally garnish with fresh herbs or a squeeze of lemon. Serve with sides like grilled steak, shrimp, or fresh salads for a complete summer BBQ meal.