In a small bowl, mix together the minced garlic, lemon juice, spices and olive oil. Pat the chicken thighs dry and rub each with the garlic-spice mixture.
Place the spiced chicken on a plate and cover and refrigerate for 2-4 hours or overnight.
When ready, heat a gas grill or cast iron skillet to medium-high. Place the chicken on grill or in pan. Cook for 5-6 minutes on one side, then turn the chicken over and cover for another 5-6 minutes.
Serve with a side of the dill yogurt sauce that you prepared earlier.