Combine the yogurt, olive oil, lemon zest, lemon juice, rosemary and salt in a medium bowl and whisk to combine.
Add the cubed lamb into the marinade and make sure the lamb is covered. Cover the bowl with plastic wrap and refrigerate for 24 hours.
After the lamb has marinated, thread 6 pieces of the meat onto a skewer and repeat for the remaining pieces of meat.
Head your grill to medium high heat and brush the grill with a touch of olive oil. Place the skewers on the grill and let cook for 7-8 minutes, turning occasionally, for medium meat. Cook longer if desired.