Balsamic vinegar and brown sugar make a tasty sauce that's healthier than traditional gravy.

Heat the oven to 350 F.

Mince together the rosemary and garlic. Loosen the chicken skin from the flesh, and rub the flesh with olive oil and then the herb mixture. Sprinkle with black pepper. Put 2 rosemary sprigs into the cavity of the chicken. Truss the chicken.

Place the chicken into a roasting pan and roast for 20 to 25 minutes per pound, about 1 hour and 20 minutes. Whole chicken should cook to a minimum internal temperature of 165 F. Baste frequently with pan juices. When the chicken is browned and the juices run clear, transfer the chicken to a serving platter.

In a small saucepan, combine the balsamic vinegar and brown sugar. Heat until the mixture is warmed and brown sugar dissolves, but don't boil.

Carve the chicken and remove the skin. Top the pieces with the vinegar mixture. Garnish with the remaining rosemary and serve immediately.

• 1 whole chicken, about 4 pounds
• 1 tablespoon fresh rosemary or 1 teaspoon dried rosemary
• 1 garlic clove
• 1 tablespoon olive oil
• 1/8 teaspoon freshly ground black pepper
• 8 sprigs fresh rosemary
• 1/2 cup balsamic vinegar
• 1 teaspoon brown sugar