Rinse chicken, removing neck and giblets. Pat chicken dry. Combine soy sauce, mustard, oil, thyme, and parsley. Starting at the neck end of the chicken, reach down with your fingers under the skin past the breast, and loosen the skin around and down to the thigh area. Spread half of the mustard mixture between the skin and meat, then cover with garlic slices. (If some of the garlic goes into the cavity, that's fine.) Stuff cavity with sprigs of rosemary. Tuck in wings and tie legs together with a string so chicken will hold its shape. Sprinkle chicken with salt and pepper. Cover chicken with plastic or foil and refrigerate several hours or overnight.
Remove chicken from refrigerator an hour before roasting. Preheat oven to 425° F. (Preheating is important!) Spread remaining mustard mixture over chicken. Place in a foil-lined roasting pan, breast-side up. Bake one hour or until juices are no longer pink. Remove from oven and let stand 10 minutes before serving.
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