Place all ingredients in food processor, except chicken, yogurt and cilantro. Process to a paste. Rub this mixture over the chicken and marinate for 1 hour. Preheat oven to 350 degrees. Place chicken in a baking dish and bake for 40 minutes. Remove chicken from pan and keep warm. Drain juices from baking dish and place into a pan. Bring to a boil. Reduce to 1 cup. Remove from heat and stir in yogurt. Place chicken on platter, pour yogurt sauce over and sprinkle with cilantro.
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