Heat the olive oil on medium heat in a saucepan. Add the garlic, cumin, chili powder, and ground mustard to the oil and sauté for 30 seconds.
Add the pineapple concentrate, maple syrup, apple cider vinegar, tomato paste, and salt to the saucepan and bring to a boil. Reduce heat to a simmer and Let the sauce cook for 5 minutes. Remove from heat.
Place the chicken in a 9x13 baking dish. Pour the sauce over the chicken, making sure all surfaces are coated.
Bake on the center rack of preheated oven for 90-105 minutes, or until chicken is very tender.
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