There are a few ways to keep chicken from drying out on the grill. For starters, use dark meat instead of white meat. Here we use boneless skinless chicken thighs. Also, marinating chicken helps keep it moist and juicy when grilling. The yogurt and lemon juice in this marinade do a great job of not only tenderizing the meat, but also preventing this chicken from drying out on the grill. Another important factor is to not over-cook it. Chicken is fully cooked when it reaches an internal temperature of 165F.