I found this recipe in Every"Day with Rachael Ray. It is fully titled "Orange-Balsamic Chicken Thighs with Pecans and Sage Butter Pasta", but I just made the Orange-Balsamic Chicken Thighs.
First, pour some olive oil into a large frying pan, and put the chicken thighs in to cook once the oil is hot. Salt and pepper the chicken. Sprinkle the chopped rosemary on top (about 2 sprigs minced fine), and cook the chicken until crispy and brown, 8-10 minutes.
Transfer the cooked chicken to a platter. Whisk 1/4 c. balsamic vinegar and 1/4 c. orange marmalade into the skillet, scraping up the browned bits from the bottom of the pan. Lower the heat and simmer for 1 minute. Return the chicken to the pan and coat with the sauce.