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Combine the mustard, garlic, oil, lemon juice, rosemary, salt and pepper in a shallow glass or ceramic dish. Mix well together.
Add the leg of lamb, secured with skewers, and rub the mustard mixture all over it. Cover the dish and leave to marinate for at least 3 hours.
If the lamb is marinated in the refrigerator, let it return to room temperature before cooking.
Preheat the grill or prepare a charcoal fire.
Place the lamb flat on the rack in the grill pan [lined with foil] or on the barbecue over the charcoal fire. Spread with any mustard mixture left in the bowl.
If grilling, set the lamb 10-12.5cm from the heat.
Cook under the grill or over charcoal until the lamb is crusty and golden brown on the outside, 10-15 minutes on each side for meat, 20 minutes for medium and 25 minutes for well done.
Transfer the lamb to a carving board and leave to rest for at least 15 minutes before carving into neat slices [not to thin] for serving.
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