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Preheat oven to 325°F (163°C). Rub Schweinehaxen with mustard, salt, and pepper.
Sear Schweinehaxen in olive oil until golden. Remove from pot.
Sauté garlic, onion, and carrots in the same pot. Add beer, bay leaves, caraway seeds, and peppercorns.
Roast: Place Schweinehaxen back in the pot with sauerkraut. Cover and roast for 2.5-3 hours.
Crisp Skin: Increase oven to 425°F (220°C) for the last 15 minutes.
Serve: Rest 10 minutes, then enjoy with sauerkraut and mustard.