Divide the chicken legs at the joint and remove the fat hanging on the inside of the thigh. I also remove the upper part of the chicken thigh, where the back of the chicken begins. I use those parts to make chicken broth. But you can leave that on if you don't want the extra work, or you can use chicken thighs where that part has already been removed.
Marinate chicken: Mix the whole grain mustard and 2 tablespoons of olive oil. Place the chicken in a large shallow dish and rub it all over with this mixture. Cover with plastic foil and leave to marinate in the fridge for about one hour.
Preheat the oven to 200 degrees Celsius/ 390 degrees Fahrenheit.
Brown chicken: Heat the remaining olive oil in a large oven-proof skillet, large enough to hold all the chicken parts in one layer. Place the chicken in the pan, skin-side down, and fry on all sides until golden brown. This should take about 2-3 minutes per side.
Cook: In the meantime, stir together the Dijon mustard, the whole grain mustard, the honey, and the chicken stock. Add to the browned chicken, sprinkle everything with the rosemary, place the skillet in the oven and cook for about 25 minutes or until the chicken is cooked through. The juices should run completely clear to make sure that the chicken is cooked through pierce the thighs with a toothpick; the juices should run completely clear.
Serve with baguette and green salad.