Rinse chicken; pat dry with paper towels. Combine garlic and rosemary. Rub chicken inside and out with garlic mixture. Halve and juice lemon. Sprinkle 2 tablespoons lemon juice over prepared chicken. Sprinkle chicken with salt. Place the squeezed lemon halves in body cavity.
Skewer neck skin to back. Tie legs to tail; twist wing tips under back. Place chicken, breast side up, on rack in shallow roasting pan. Insert meat thermometer in center of inside thigh muscle, making sure bulb does not touch bone. Bake, uncovered, in a 375 degree F oven for 1-1/4 to 1-1/2 hours or until meat thermometer registers 185 degree F and drumsticks move easily in their sockets, brushing occasionally with drippings. Makes 6 servings.