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Finely chop mint, parsley and garlic and combine in a small bowl. Stir in oil, salt and pepper.
Pat lamb dry. If you have metal skewers, thread 2 through the lamb horizontally to help the meat hold together and make it easier to flip on the grill. (If you don’t have skewers, just be sure you have long sturdy tongs.) Rub the herb mixture evenly over the lamb. Cover and refrigerate for at least 3 hours or up to 1 day to allow the flavors to penetrate.
About 1 hour before you’re ready to grill, remove the lamb from the refrigerator.
Preheat a gas grill to medium or prepare a medium-hot charcoal grill and push the coals to one side.
Grill the lamb over direct heat until an instant-read thermometer inserted horizontally into the thickest part registers 125° to 130°F for medium-rare, 10 to 15 minutes per side. If the meat is getting too charred, occasionally move it to the cooler part of the grill. (Alternatively, place the lamb in a roasting pan and roast in the oven at 425°F until it reaches the desired temperature, 25 to 35 minutes.)
Place the lamb on a clean cutting board, tent with foil and let rest 10 minutes before slicing.