Move oven racks to the lowest point in your oven. Preheat oven to 400 degrees. Remove the giblet package from the inside of the chicken. Rinse the inside and outside of the chicken, paying close attention to remove any remaining pin feathers. Pat chicken dry with paper towel and set aside.
Rinse and quarter lemons. Rinse rosemary and remove from the stem. Reserve 2 rosemary stems. In a small bowl mix the juice from 1/2 a lemon, rosemary, minced garlic 1 tbsp salt and 1 tbsp pepper. Use the back of a spoon to mash the mixture together. (If you watched our show we did this with our mortar and pestle) Set mixture aside.
Salt the inside cavity of the chicken with remaining salt and pepper. Fill the inside cavity of the chicken with lemon quarters and two whole rosemary stems. Place the chicken breast side down in your roasting pan.
Using the garlic, rosemary, lemon mixture completely cover the chicken. We used our hands for this process paying special attention to really rubbing it all in all over the sweet little bird. Any remaining mixture can be poured into the cavity of the bird with the lemons.
Insert digital read thermometer into the thickest part of the chicken thigh. Cover roasting pan with aluminum foil. Place chicken into preheated oven and allow internal temperature to reach 155 degrees. Remove foil from the pan and continue roasting until chicken reaches internal temperature of 165 degrees. Remove chicken from oven, cover with aluminum foil and allow bird to rest for approximately 10 minutes before carving. This will allow all the amazing tasty juices to seal into your masterpiece!