Start by rinsing the thighs, and pat dry to remove all water so the seasoning will stick.

Sprinkle each thigh piece with salt and pepper.

Place the thighs into a bowl and add in the garlic, rosemary, cumin, paprika, 1/2 lime juice, olive oil, parsley and red pepper flakes.

Combine all ingredients making sure each piece is thoroughly coated. Cover and refrigerate for a minimum of 30 minutes.

When you are ready to grill, let the chicken come to room temperature on the counter. Preheat your grill to around 400 degrees. Place the thighs skin side down and let grill covered for 5 minutes. You can add wood chips to your coals if you want to add a sweet, smoky flavor.

Turn the thighs over and let cook an additional 5 minutes. For the remaining 15 minutes, move them to the opposite side of the grill and cook indirectly. You can test for required temperature with a Thermapen digital thermometer, which should read 180 degrees.

Squeeze the other lime half over the chicken, and top with fresh cilantro.