Make the marinade by combining the yogurt, olive oil, garlic, oregano, parsley, salt, and pepper in a large bowl. Add both the zest and the juice from the lemon to the bowl. Stir well.
Reserve a few spoonfuls of the marinade to drizzle over the chicken at the end. Add the chicken pieces to the remaining marinade and stir to coat the chicken well. Refrigerate for 30 minutes.
Cook the chicken on the grill until internal temperature is 165 degrees F, about 20 minutes. Alternatively you can bake in the oven at 375 degrees in a 9 x 13 dish for about 45 minutes.
Place on a serving dish and drizzle with the reserved marinade.
Notes
Don't forget to save the chicken bones to make homemade broth!