01 - In a medium bowl, whisk together orange juice, lemon juice, olive oil, minced garlic, salt, and black pepper until thoroughly combined.
02 - Place chicken pieces in a large resealable bag or shallow dish. Pour marinade over the chicken, ensuring all pieces are evenly coated. Cover and refrigerate for 1 hour.
03 - Preheat grill to medium heat (approximately 350°F).
04 - Remove chicken from marinade, reserving any leftover marinade for basting. Grill chicken, skin side down, for 5-7 minutes per side, turning occasionally and basting with reserved marinade. Cook until chicken is deeply charred and internal temperature reaches 165°F.
05 - Transfer cooked chicken to a platter and let rest for 5 minutes before serving.