Preheat your oven to 425°F (220°C).
In a large bowl, whisk together the balsamic vinegar, olive oil, honey, Dijon mustard, minced garlic, oregano, thyme, salt, and pepper.
Add the chicken thighs to the bowl and toss to coat them evenly in the marinade. Let them marinate for at least 15 minutes, or up to 2 hours in the refrigerator for more flavor.
In a large baking dish, place the halved baby potatoes. Drizzle with olive oil, salt, and pepper, and toss to coat.
Arrange the marinated chicken thighs on top of the potatoes in the baking dish. Pour any remaining marinade over the chicken and potatoes.
Place lemon slices on top of the chicken and potatoes.
Bake in the preheated oven for 35-40 minutes, or until the chicken is cooked through and the skin is crispy. The internal temperature should reach 165°F (75°C).
Remove from the oven and let it rest for 5 minutes before serving. Garnish with fresh parsley.