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In a large, straight-sided skillet or pot, combine all ingredients except chicken; cover with water by 1/2 inch. Bring to a boil over high. Add chicken and return to a boil. Cook 3 minutes, then cover skillet and remove from heat. Let stand until chicken is cooked through, 15 to 18 minutes, flipping halfway through. Remove chicken from poaching liquid immediately.
½ medium yellow onion, halved
1 medium carrot, cut into thirds
1 celery stalk, cut into thirds
2 garlic cloves, peeled
½ lemon, sliced (optional)
1 teaspoon coarse salt
1 teaspoon black peppercorns
3 sprigs thyme or parsley
4 boneless, skinless chicken breast halves, (about 8 ounces each)