In a large ziploc bag, shake to combine garlic, onion, oregano, cumin, chili, salt, pepper, olive oil, orange juice, and lime juice.
Add chicken thighs, reseal, and marinade in the refrigerator for at least 30 minutes.
Remove from marinade and cook in a skillet over medium high heat for 15 minutes. Flip them over and continue to cook for an additional 10-15 minutes until chicken is cooked all the way through.
Top with cilantro and serve.
Notes
For juicy chicken breasts keep your temperature low, on the grill, and cook it longer, for the best results.