Heat the olive oil in a large skillet over medium heat. Add the garlic and rosemary and cook for 30 seconds. Add the chicken, beans, 1 teaspoon salt, and ½ teaspoon pepper. Cook until heated through, about 6 minutes.
Finely grate the lemon peel and juice the lemon. Add the grated zest and juice to the chicken and beans. Stir. Taste and adjust seasoning with more salt and pepper if desired. Serve warm.