Heat the oil in a 10-inch skillet over medium-high heat. Add the chicken and cook for 10 minutes or until well browned on both sides. Remove the chicken from the skillet.
Reduce the heat to medium. Add the garlic to the skillet and cook and stir for 1 minute. Stir the picante sauce, orange juice and brown sugar in the skillet and heat to a boil. Return the chicken to the skillet. Reduce the heat to low. Cover and cook for 5 minutes or until the chicken is cooked through. Serve the chicken and sauce with the rice.