Steps:
- Combine marinade ingredients in a large zip-top bag; add chicken. Marinate at least two hours. Make cilantro pesto: combine all ingredients except oil in food processor, grind together, adding oil slowly through processor feed until a soft paste forms. Remove chicken from marinade. Lift skin and spread 2 tablespoons cilatro pesto under skin of each thigh. Be careful not to contaminate pesto with utensils used on chicken -- you will use the remainder to finish the dish. Grill chicken on medium grill until chicken is cooked thoroughly.
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