In shallow glass or plastic dish or resealable food-storage plastic bag, mix all ingredients except chicken and olives. Add chicken; turn to coat with marinade. Cover dish or seal bag; refrigerate 1 hour.
Heat gas or charcoal grill. Remove chicken from marinade; reserve marinade. Place chicken, skin sides down, on grill over medium heat. Cover grill; cook 15 minutes. Turn chicken; brush with marinade. Cover grill; cook 20 to 40 minutes longer, brushing occasionally with marinade, until juice of chicken is clear when thickest piece is cut to bone (170°F for breasts; 180°F for thighs and drumsticks). Discard any remaining marinade. Serve chicken with olives.