In a mixing bowl, combine the yogurt, minced garlic, lemon juice, paprika, cumin, salt, and black pepper. Mix everything together until well combined.

Place the boneless chicken thighs in a ziplock bag or an airtight container large enough to hold them comfortably.

Pour the yogurt marinade over the chicken thighs, ensuring that they are fully coated. Seal the bag or container and refrigerate for a minimum of 1 hour. For the best flavor, marinate overnight if possible.

Preheat your grill to medium-high heat (around 400°F or 200°C). If using charcoal, make sure the coals are evenly distributed.

Take the marinated chicken out of the fridge and let it sit at room temperature for about 15-20 minutes.

Grease the grill grates lightly with some oil to prevent sticking.

Using tongs, remove the chicken thighs from the marinade, allowing any excess to drip off. Discard the used marinade.

Place the chicken thighs directly onto the grill grates. Grill each side for about 5-7 minutes, or until they are cooked through and have beautiful grill marks. The internal temperature of the chicken should reach 165°F (75°C).

Once the chicken thighs are done grilling, transfer them to a clean plate and cover loosely with aluminum foil. Allow them to rest for 5 minutes. This helps retain their juiciness.