Trim any excess fat and silverskin from the leg of lamb. Rinse under cold water and pat dry with paper towels.
Prepare the marinade: In a bowl, combine the finely chopped rosemary, thyme, crushed garlic cloves, lemon juice, olive oil, salt, and pepper.
Thoroughly rub the marinade all over the leg of lamb. Cover and refrigerate for at least 2 hours, or preferably overnight, to allow the flavors to penetrate the meat.
Preheat your grill to medium-high heat. Place the marinated leg of lamb on the grill and sear for 8-10 minutes per side, until a golden-brown crust forms.
Reduce the heat to medium and continue grilling for another 20-25 minutes, or until the internal temperature reaches your desired level of doneness (140-145°F for medium-rare).
Once cooked, remove the leg of lamb from the grill and let it rest for 10 minutes before carving. This allows the juices to redistribute, resulting in a more tender and flavorful roast.
Thinly slice the lamb and sprinkle with freshly chopped parsley. Serve with a fresh salad or grilled vegetables.
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