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Adjust oven rack to lowest position and heat oven to 350 degrees. Line rimmed baking sheet with parchment paper. Toss potatoes, ¼ cup oil, whole-grain mustard, 1 tablespoon rosemary, ¾ teaspoon salt, and pepper in large bowl until potatoes are evenly coated with oil mixture. Arrange potatoes cut sides down on prepared sheet. Roast until potatoes are tender and bottoms are golden brown, 50 minutes to 1 hour.
Whisk Dijon mustard, garlic, lemon zest and juice, remaining 2 tablespoons oil, remaining 1 teaspoon rosemary, and remaining ¼ teaspoon salt in large bowl until smooth.
Transfer roasted potatoes to bowl with Dijon mixture and toss until potatoes are evenly coated. Season with salt and pepper to taste. Serve.
**Try roasting potatoes at 425 degrees for 45 minutes.