Step 1: Combine first 3 ingredients (-cloves) in a bowl and then whisk in the vinegar. Let stand for 15 minutes. Whisk in apple juice concentrate, mustard, rosemary and oil. Season with salt and pepper.
Step 2: Place lamb, boned side up, in a 15 x 10 x 2 inch glass baking dish; sprinkle with salt and pepper. Spread 1/3 cup marinade over top of lamb; turn over, sprinkle with salt and pepper and spread remaining marinade over the lamb. Cover with plastic wrap and chill overnight.
Step 3: Spray grill rack with nonstick spray. Prepare barbecue (medium heat). Place lamb on grill with marinade still clinging to the lamb (reserve dish with marinade).
Step 4: Grill 15 minutes. Turn lamb over. Grill 15 minutes, brushing with marinade from reserved dish. Turn lamb over and gill until thermometer inserted into thickest part registers 130 degrees F for medium rare, brushing often with marinade (5 minutes longer per side). Transfer lamb to platter; cover loosely with foil and let rest 15 minutes.
Step 5: Slice lamb thinly and arrange on platter and serve.
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