In a large bowl, add the marinade ingredients and whisk well to combine; yogurt, lemon juice, ginger, garlic, salt, pepper, cayenne, paprika, garam masala, coriander, cumin, turmeric.
Add the chicken pieces to the marinade and toss to coat all pieces evenly.
Cover and refrigerate. Marinade for at least 6 hours up to 24 hours.
Open the lid, place the grill plate inside of the basket. Select Grill L3. Press Time and set for 25 Minutes. Press Start.
Once the grill has finished preheating and displays Add Food, shake the access marinade off the chicken pieces, and place them on the grill. Close the lid.
When the unit displays Turn Food, use kitchen tongs and flip the chicken pieces over. Close the lid.
Once the cooking time has finished, transfer the chicken to a serving platter. Top with fresh cilantro and serve immediately.