1. In a medium bowl, combine ¾ cup Florida Orange Juice, yogurt, garlic and cayenne pepper and mix well. Whisk in oil. Place chicken in a shallow dish and pour Florida Orange Juice mixture over chicken. Cover and refrigerate for 1 to 3 hours. 2. In a small saucepan, combine Orange Marmalade, 2 tablespoons Florida Orange Juice, rosemary and salt. Place over medium-low heat and cook until Orange Marmalade melts, stirring occasionally. Cover and keep warm. 3. Preheat grill to medium (300 to 350° F). Remove chicken from marinade. Pour marinade into a small saucepan and bring to a boil over high heat. Boil for 3 minutes, then remove from heat. 4. Grill the chicken, 6 minutes per side or until a thermometer registers an internal temperature of 165° F. Turn and baste the chicken frequently with the cooked marinade. During the last 3 minutes of grilling, brush chicken with the Florida Orange Rosemary mixture. Serve warm.