Dijon and Herb Grilled Chicken Thighs

Name: Dijon and Herb Grilled Chicken Thighs
Ingredients: 5 or 6 boneless skinless chicken thighs; 2 tablespoons Dijon or other sharp mustard; 2 tablespoons Worcestershire sauce; 2 tablespoons olive oil; Freshly ground black pepper; 4 garlic cloves, smashed but not chopped; 2 teaspoons soy sauce; 1 tablespoon chopped parsley (I use the stems for this); 2 tablespoons finely chopped other herbs (my favorite combinations: marjoram + thyme, basil + oregano, rosemary + thyme); Salt; Juice of ½ lemon, or more to taste