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1. In a large bowl, mix the 1/2 cup yogurt, salt, mashed garlic, ginger, turmeric, cumin, cayenne pepper, paprika and garam masala. Add the chicken and toss to combine. Cover the bowl with plastic wrap and refrigerate for at least an hour.
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2. When you are ready to grill the chicken, lightly oil and then preheat your grill. At this time, you can prepare the sauce.
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3. In a medium saute or frying pan, heat the canola oil. Add the tomatoes, garlic, turmeric, cayenne pepper, paprika and cumin; saute until softened.
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4. Tumble the cooked ingredients into a blender. Add the garam masala, salt and yogurt, and blend until a thick puree has formed. Return the sauce to the pan.
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5. Thread the chicken cubes onto metal or presoaked bamboo skewers, allowing space between each cube so the chicken cooks more evenly. Place the skewers on the grill and, turning occasionally, cook until the cubes have browned slightly and the interior of the meat no longer looks pink.
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6. Remove the chicken cubes from the skewers and place them in the pan with the sauce. Toss the ingredients together and allow them to simmer on low heat for 5 minutes. Serve over basmati rice.
