Sprinkle chicken cavity with 1/2 teaspoon salt and 1/2 teaspoon black pepper. Place 4 lemon wedges (from one whole lemon) and 2 whole rosemary branches with sprigs attached inside the cavity.
Mix the garlic, chopped rosemary, and one tablespoon of olive oil to form a paste/rub.
Loosen the skin of the chicken with your hands one area at a time, so that it separates from the meat. Slide fingers under the skin and place minced rosemary, garlic, and olive oil mixture, rubbing into the poultry. Do a little at a time so the whole chicken is coated.
Rub or brush the outside of the chicken with oil and sprinkle with the remaining salt and pepper. If preferred, tie the legs with a string.
Place chicken breast-side up in a roasting pan. Cover and bake for 30 minutes. Baste the chicken with the juices. Reduce temperature to 400 degrees and cook one hour, basting the chicken with the juices after 30 minutes, or until chicken thighs have reached an internal temperature of 180 degrees F.