Combine garlic, onion, cumin, oregano, cilantro, pepper, salt, orange juice, lime juice and olive oil in a zipper bag.
Shake the bag to combine the marinade ingredients.
Add chicken to the bag and shake to ensure the chicken is fully coated.
Refrigerate for 30-60 minutes.
Remove chicken from bag and discard marinade.
Preheat grill to medium high.
Grill chicken until internal temperature reaches 160 degrees, turning once.
Remove chicken from grill and cover with foil; allow to rest for 5 minutes.
Top with Pineapple Salsa.