In a medium sauce pan over medium-low heat, whisk together brown sugar, apple juice, molasses, dijon, butter, cayenne and Worcestershire sauce. Bring to a low boil. Continue to cook down while stirring occasionally for 8-10 minutes. Remove from heat, stir in pecans and set aside.
Remove rind/skin and most fat from ham. Place ham, cut side down/bone side up in roasting pan. Score ham either in diagonals or squares so that the glaze and fat can cook down into the ham.
Rub about 1/2 of pecan glaze into ham, making it gets down into the scoring. Make a tent with foil and cover ham so that the foil does not touch it. Bake in preheated oven for 1 hour.
After 1 hour, turn up oven temp to 350°, remove foil and baste ham with 1/2 of remaining glaze. Cook for 15 min. uncovered. Add rest of glaze and cook for another 15 minutes.
Remove from oven and let rest for 10 minutes. Spoon drippings from pan over ham, place on garnished platter to serve.