In small bowl, mix garlic, rosemary, salt and pepper. Lightly sprinkle and pat mixture on each chicken piece. In 12-inch nonstick skillet, heat oil over medium heat. Add chicken, seasoned side down. Cook 3 minutes or until golden brown. Turn chicken. Add beans, tomatoes and olives to skillet. Sprinkle with flour; stir slightly to mix. Bring to a boil. Reduce heat. Cover; cook 15 minutes or until chicken is no longer pink in center and thermometer inserted in center reads 165°F. Serve bean mixture over chicken.

Tip: If your family prefers white meat, you can substitute 4 small boneless skinless chicken breasts for the thighs. Adjust cooking time depending on thickness of meat.