Allow the meat to come to room temperature (about an hour) before preparing and cooking.
Preheat the oven to 220C/Gas 7/200C fan.
With a sharp knife, carefully make incisions all over the lamb and push a slice of garlic and some rosemary into each slit.
Scatter the chopped onion and carrot into a roasting dish and place the lamb on top of the vegetables.
Season with salt and freshly ground black pepper and drizzle with a little olive oil
Roast for 15 minutes and then turn the oven down to 190C/Gas 5/170C fan and cook according to the weight instructions for your joint of lamb. A 2kg leg joint takes about 1hr and 15 minutes. Allow the meat to rest for 20 minutes before carving. Cover with foil and tea towels to keep warm.
To make the pesto, place the peas in a bowl and pour boiling water over to cover them. Leave for 2 minutes.
Drain the peas and place into a food processor. Add the remaining pesto ingredients and whizz to form a paste. Season to taste
Serve the roasted lamb with your choice of potatoes - new potatoes work really well, and with the mint pea pesto on the side.