Combine olive oil, garlic, rosemary, lemon zest, salt and pepper in a medium size bowl. Stir well to combine.

Cut up chicken and place in a ziplock bag. Add the marinade and massage bag with your hand to work the marinade into the chicken. Refrigerate for one hour. (If prepping in advance, cut the chicken and place in a ziplock bag. Make the marinade and keep in a separate bowl, covered in refrigerator. Combine one hour before grilling and proceed with directions.)

If using wooden skewers, soak them in water while the chicken is marinating. I prefer stainless steel skewers, but if I'm using the wooden ones, I like to put them in a large zippered bag and add enough water to cover.

Remove chicken from refrigerator after one hour. Thread the chicken onto 6-8 10-inch skewers, leaving space for holding at the ends of each skewer. Discard the marinade. Sprinkle the chicken lightly with kosher salt and a bit of freshly ground black pepper.

Preheat the grill to medium, about 350˚F.

Oil the grill grates well. Grill skewers for 15 to 20 minutes at 350 degrees, or until chicken is firm to the touch, no longer pink in the center and beginning to turn golden and have grill marks. The internal temperature should be 160˚F. Turn skewers occasionally and baste lightly with olive oil. If chicken seems to be sticking when you try to turn it, it's not ready to turn yet. Just wait a little longer and it should release freely.

Garnish with more finely chopped fresh rosemary and parsley, if desired.