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For the marinade: In a small frying pan, add the cloves, green cardamom, black cardamom, coriander, and fennel seeds. Heat the spices on medium heat for about 3-4 minutes, until fragrant. Once you can smell them, they're done. Pour the toasted spices into a spice grinder or mortar and pestle, and grind them until they're a fine powder.
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In large bowl, whisk together the spice mixture you just made with the yogurt, oil, lemon juice, salt, both paprikas, cinnamon, turmeric, cumin, cayenne pepper, garlic and ginger until well combined. Taste the marinade and adjust with more salt if it needs it.
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Prick the chicken thighs with a fork, then toss the chicken into the marinade, stir to cover completely, and refrigerate for as little as 1 hour or as long as overnight.
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To Grill: Heat your grill to the highest setting, and set your chicken on the grates. Cook each side on the grill for 7-8 minutes, making sure to allow the chicken to get blackened in areas. When a meat thermometer inserted in the meatiest part of the thigh registers 160 degrees F, the chicken is done.
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To Broil: Line a baking sheet with foil, and turn your broiler on to about 425 degrees. Place each chicken thigh on the baking sheet, making sure each one is coated with the marinade. Cook the chicken thighs under the broiler until it starts to blacken, about 5 minutes. Then turn the oven to 350, and cook until a meat thermometer inserted in the meatiest part of the thigh registers 160 degrees F, another 10 minutes. Remove from the oven.
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Allow the chicken to rest for 5 minutes before serving