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In a small bowl combine Balsamic vinegar, honey, soy sauce, peppercorns (or fresh cracked pepper), garlic and rosemary. Puree with a blender until smooth and set aside.
Cut chicken legs. Season the chicken thighs and drumsticks with salt and fresh cracked pepper, all over and under the skin.
In a 12-inch skillet, heat olive oil over medium-high heat. Add chicken pieces, skin side down, and cook for about 5 minutes until the chicken skin side gets nicely browned. Turn chicken, so that skins sides are up and add the balsamic/honey mixture to the skillet. Reduce heat to low; cover and cook for 15 to 20 minutes, or until done.
Transfer chicken to plates and drizzle with pan juices. Enjoy!