1. Trim fat from lamb. With the tip of a knife, cut 1-inch-wide pockets into lamb at 3-inch intervals; insert a slice of garlic into each pocket. Set aside.

2. For marinade, in a small bowl combine balsamic vinegar, oil, mustard, sugar, basil, minced garlic, salt and pepper. Place leg of lamb in a large resealable plastic bag. Pour marinade over lamb. Seal bag; turn to coat lamb. Marinate in the fridge for at least 8 hours or up to 24 hours, turning bag occasionally. Drain and discard marinade.

3. Place lamb on rack in a shallow roasting pan. Insert an oven-doing meat thermometer into the thickest portion of the leg. Roast in a 325 F. oven until desired doneness is reached. Allow 2 to 2 1/2 hours for medium-rare (140 F.) or 2 1/2 to 3 hours for medium (155 F.). cover and let stand for 15 minutes before carving. The temperature of the meat after standing should be 145 F. for medium-rare doneness or 160 F. for medium. Remove strings. Thinly slice lamb to serve.

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Percent Daily Values are based on a 2,000 calorie diet. Your daily values may be higher or lower depending on your caloric needs.