1/4 cup balsamic vinegar
2 tablespoons Dijon mustard
2 tablespoons fresh lemon juice
2 garlic cloves, chopped
2 tablespoons olive oil
Salt and freshly ground black pepper
1 (4-pound) whole chicken, cut into pieces (giblets, neck and backbone reserved for another use)
1/2 cup low-salt chicken broth
1 teaspoon lemon zest
1 tablespoon chopped fresh parsley leaves