Combine the olive oil, mustard, garlic, rosemary, and pepper to form a paste. Brush the mixture all over the leg of lamb. Let rest in refrigerator for at least 1 hour. Remove from refrigerator 30 minutes before roasting.
Preheat oven to 350°F. Transfer the leg of lamb to a roasting pan. Roast in the middle of the oven for 1 1/4 to 1 1/2 hours, beginning to check for doneness after 1 hour. The roast is medium-rare when an instant-read thermometer inserted in the thickest part of the roast registers 135°F.
Remove from the oven, and allow the roast to rest for 15 minutes before carving.
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