Mix the yogurt, garlic, ginger, lemon juice, curry powder, cayenne and salt in a large zip-lock bag until well combined. Add the chicken and turn to coat. Marinate the chicken at least 1 hour or up to 24 hours.
Remove the chicken from the marinade (discard marinade) and grill over medium-high heat, about 10-12 minutes per side or until cooked through. Serve immediately.