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For the Marinade: Place yogurt, lemon juice, lemon zest, olive oil, mint leaves, cilantro leaves, garlic, salt, paprika, and black pepper in the jar of a blender. Blend marinade until smooth. Place lamb cubes in a large resealable plastic bag. Pour marinade into bag and seal, removing as much air as possible. Place in refrigerator and marinate for at least 4 and up to 8 hours.
For the Skewers: Thread lamb onto skewers, alternating with onion and zucchini.
Light one chimney full of charcoal. When all charcoal is lit and covered with gray ash, pour out and spread the coals evenly over entire surface of coal grate. Set cooking grate in place, cover grill and allow to preheat for 5 minutes. Clean and oil the grilling grate. Grill skewers until well browned on all sides and center of lamb registers 130°F on an instant-read thermometer, 4-5 minutes per side. Transfer skewers to platter and let rest for 5 minutes. Serve immediately.