Pollo Asado Recipe (Chicken Asado)

Prepare the marinade - In a large bowl, combine the orange juice, lime juice, olive oil, garlic, oregano, cumin, onion powder, achiote powder, salt, and black pepper.
Marinate the chicken - Transfer the chicken thighs to a large resealable ziplock bag and cover with the prepared marinade. Seal the bag and ensure the chicken is evenly coated with the marinade. Transfer to the refrigerator and allow the chicken to marinate for at least two hours.
Remove the chicken from the refrigerator - Approximately 30 minutes before cooking, remove the chicken from the refrigerator allowing it to come to room temperature.
Prepare the grill - Clean the grill grates and lightly oil them with vegetable oil or cooking spray. Set the grill to medium-high heat.
Grill the chicken - Remove the chicken pieces from the marinade and discard any leftover marinade. Grill the chicken for 8-10 minutes on each side or until the internal temperature reaches 165°F (74°C) as measured with a digital meat thermometer. Note: Bone-in chicken will take longer to cook compared to boneless chicken.
Allow the chicken to rest - Once the chicken is cooked, remove it from the grill and let it rest for 5 minutes before serving.