Preheat oven to 190°C.
Cut the carrots into about ten 1 cm wide strips.
Arrange the chicken legs in a roasting dish and scatter around them the carrot pieces.
Chop the rosemary leaves.
Crush the garlic using a pestle & mortar, mix with the oil and rosemary. Rub the chicken and carrot pieces with his mixture. Season with salt & pepper. Pour over the remaining garlic-oil mixture.
Cook in the oven for about 25 minutes until light brown.
Mix the balsamic vinegar and orange juice and pour over the chicken and carrots.
Bake for another 10-15 minutes until the chicken is golden brown.