Combine spices, cilantro, garlic, lemon, olive oil, and yogurt in a large bowl with a cover; stir well. Add chicken pieces; cut them bite size if using skewers, or cut them into larger pieces if you place them directly on the grill. Marinate about 4 hours or more, if able.
Grill over medium heat; flip and grill until cooked through. (Time depends on size of chicken pieces.)
This chicken is delicious served with Cucumber Raita, coconut rice, and a simple salad. Turn leftover chicken and cucumber raita into Tandoori-Style Chicken, Avocado and Mango Salad. You can scale down the recipe, but I like to make 12 servings to make sure I have more than one meal out of it!