Preheat oven to 180°c

In large bowl combine balsamic vinegar, honey, mustard, crushed garlic, salt and pepper. Whisk thoroughly to combine

Add chicken thighs to the marinade and fully coat them. Set aside in fridge to marinate for 20 minutes to an hour

In medium bowl add potatoes, rosemary, salt, pepper, sprinkle with half lemon juice, toss to combine, set aside

In large pan add oil and then add the marinated chicken. Cook until slightly browned

Add the potato mixture to the pan between the chicken thighs and fry a few minutes. Top with few sprigs of rosemary

Transfer the chicken thighs and potatoes to baking dish. Set in the oven at 180°c for 25 minutes. Check if potatoes cooked through and turn chicken so that other side cooks 5 minutes.

Remove from the oven and serve immediately