In small bowl, mix together garlic, orange peel, salt, thyme, rosemary and pepper. Slip fingers between skin and flesh of chicken, leaving skin attached. Spread 1/4 of herb mixture under skin of each chicken quarter, pulling skin back over spices. Mix together orange juice, vinegar and Worcestershire sauce. Place chicken on prepared grill, skin side up, about 8 inches from heat. Cook, turning and basting with orange juice mixture every 5 minutes, about 40 minutes or until fork can be inserted in chicken with ease.