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Preheat the oven to 450 degrees. Put the minced garlic, mustard, olive oil, lemon juice, rosemary, salt and pepper in a small bowl and mix well. Then spread evenly over the whole leg of lamb with your hands or a knife. Place the lamb in a roasting pan and put in the oven for about I hour. Turn down the oven to 400 degrees, scatter the potatoes around the lamb and roast another 30 minutes. Then add the carrots to the pan while turning the potatoes to brown all over. Roast for another 30 minutes or so, then remove the lamb to a platter and cover with tin foil for 15 to 20 minutes so all the juices settle. Carve the lamb and serve along with the carrots and potatoes.