Skillet chicken with orzo

3 tablespoons olive oil
1 1/4 pounds skinless, boneless chicken breast halves or thighs, cut into 1-inch pieces
2 cloves garlic, thinly sliced
8 ounces (1 1/2 cups) dried whole-grain orzo pasta
1 1/2 teaspoons chopped fresh rosemary
2 1/2 cups no-salt-added chicken broth
1 medium zucchini (8 to 9 ounces), cut into 1/2-inch dice
1 heaping cup (6 1/2 ounces) cherry tomatoes, halved
1/4 cup fresh lemon juice
3/4 teaspoon salt
1/4 teaspoon freshly ground black pepper
1 tablespoon finely chopped fresh parsley

Heat 1 tablespoon of the oil in a large, deep lidded skillet over medium-high heat. Add half of the chicken and cook, stirring one or twice, until browned, 2 minutes total. Use a slotted spoon to transfer the chicken to a plate. Repeat with another tablespoon of oil and the remaining chicken, transferring the chicken to the plate once it has browned.

Add the remaining tablespoon of oil to the skillet, then add the garlic and cook, stirring, for 30 seconds. Add the orzo and rosemary and cook, stirring, until the orzo is well coated with the oil and lightly toasted, 1 to 2 minutes. Add the broth and bring to a boil, then reduce the heat to medium-low and cook, covered, for 5 minutes, until the orzo is about halfway cooked.

Stir in the zucchini and cook, covered, until it is just tender, about 3 minutes, then return the chicken and any accumulated juices to the skillet along with the tomatoes, lemon juice, salt and pepper. Cook for about 2 minutes or until the tomatoes soften and the chicken is cooked through. Serve sprinkled with the parsley.