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Cut one of the lemons into wedges and set aside. Juice the remaining lemon and combine with 3 tablespoons olive oil, garlic, salt and pepper, in a large resealable plastic bag or in a bowl, along with the chicken pieces. Seal and shake the bag (or stir in the bowl) to coat. Set aside for 30 minutes, or refrigerate up to overnight.
Heat the remaining 2 tablespoons olive oil in a large cast-iron skillet over medium-high heat. Remove the chicken from the marinade, letting the excess drip off, and cook until lightly golden all over, turning when the chicken releases easily from the pan, about 12 minutes total. Transfer chicken to a plate and set aside.
Add the onion to the pan and stir to coat with the remaining fat. Decrease heat to medium and cook until soft, about 4 minutes. Stir in the orzo and the broth or water. Cook until the liquid is partly absorbed, stirring occasionally, about 5 minutes. Top with the chicken legs and cover with a lid or foil. Continue cooking until the orzo is tender, most of the liquid is absorbed, and the chicken is cooked through, 15 to 20 minutes more, depending on the size of your drumsticks or thighs. Remove from the heat and scatter the cucumber, feta and dill over the top. Serve from the skillet with lemon wedges and olives.