Season chicken legs with pepper and paprika. Fry in 2 tablespoons oil over medium-high heat for 3 minutes per side until browned. Add chopped onions and sauté for 2 minutes. Pour in 400 ml broth. Slice olives thinly and stir in with tomato paste. Sprinkle chicken with marjoram. Cover and simmer for 50 minutes.
After 45 minutes of simmering, preheat oven to 200°C (392°F).
Remove chicken legs and place in an ovenproof dish. Bake in the preheated oven at 200°C (392°F) for 8 minutes until skin crisps.
While chicken bakes, season the pan sauce with Madeira, Worcester sauce, and Tabasco to taste. If needed, thicken lightly with sauce thickener.