Wash the leg of lamb and pat it dry. Rub it generously with salt, pepper, and finely chopped rosemary.
Crush half of the garlic cloves and combine them with the olive oil and lemon juice. Rub this mixture all over the leg of lamb and let it marinate for at least 1 hour.
Preheat your grill to medium heat. Place the leg of lamb on the grill rack and cook on both sides for 8-10 minutes, until it's nicely browned on the outside and juicy inside.
While the lamb is grilling, prepare the garlic sauce: combine the remaining crushed garlic with the sour cream and mustard. Season with salt and pepper to taste, and stir in the finely chopped parsley.
Let the cooked leg of lamb rest for 5 minutes before carving. Serve with the garlic sauce, and a fresh salad or grilled vegetables on the side.
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