Preheat your oven to 400°F (200°C).
Prepare the yogurt sauce by combining the yogurt, minced garlic, lemon juice, paprika, cumin, salt, and pepper in a bowl.
Pat the chicken thighs dry with paper towels, then rub them with olive oil, salt, and pepper.
Place the chicken thighs skin-side up in a baking dish. Spoon half of the yogurt mixture over the thighs, ensuring even coverage.
Bake the chicken in the preheated oven for about 35-40 minutes, or until the internal temperature reaches 165°F (75°C).
In the last 10 minutes of baking, spoon the remaining yogurt mixture over the chicken.
Once cooked, remove the chicken from the oven and let it rest for 5-10 minutes before serving with fresh herbs.