In a medium bowl, whisk together yogurt, olive oil, garlic, lemon juice, paprika, cumin, salt, and pepper.
Add chicken and coat well with the marinade. Cover and refrigerate for at least 2 hours, or overnight for deeper flavor.
Preheat your grill or oven to medium-high heat.
Remove chicken from the marinade and shake off excess.
Grill chicken for 6–7 minutes per side, or bake at 400°F for 20–25 minutes, until cooked through and golden.
Let it rest for a few minutes before slicing. Serve warm with veggies, grains, or a fresh salad.