1/4 cup (loosely packed) fresh rosemary leaves, finely chopped, plus 3 whole fresh rosemary sprigs
2 garlic cloves, chopped
1/2 teaspoon black peppercorns
3/4 teaspoon kosher salt
4 teaspoons olive oil
1 (5-to 6-pound) whole chicken
Combine chopped rosemary and garlic, peppercorns and salt in mortar and crush with pestle or blend in mini processor until coarse paste forms. Mix in oil. Rinse chicken; pat dry. Rub herb mixture all over the chicken, both under the skin and on top. Make sure to coat both sides.
Place rosemary sprigs in 13x9x2-inch ceramic or glass baking dish. Place chicken, skin side up, atop rosemary sprigs in dish.
Position rack in center of oven and preheat to 400°F. Roast chicken uncovered until instant-read thermometer inserted into thickest part of thigh registers 170°F, about 1 1/2 hours. Transfer chicken to platter and serve.