In a medium bowl, whisk garlic, vinegar, oil, brown sugar, rosemary, and thyme; generously season with salt and pepper. Reserve ¼ cup in a small bowl for basting. Cover and refrigerate until ready to use.
Add chicken to bowl with remaining marinade and toss to combine. Cover bowl and let marinate at least 20 minutes at room temperature or refrigerate up to overnight.
Transfer chicken to a platter. Top with parsley.
