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. Pour pineapple juice over ham.
Mix together the rest of the ingredients in a small bowl. Using a basting brush or your fingers, use 2/3 of the pineapple, mustard, brown sugar glaze to coat the ham. Make sure to work the glaze into the scoring.
Cover with foil and place ham in the oven. Bake covered for 45 minutes. Uncover and continue to bake for 1 1/2 hours or until the glaze is a nice golden brown.
Take ham from oven. Brush with the rest of the glaze. Let rest for 10 minutes before serving.