Preheat oven to 325 degrees F (165 degrees C). Place ham in a roasting pan.
In a small saucepan, combine brown sugar, pineapple juice, honey, orange juice, orange zest, Dijon mustard, and ground cloves.
Bring to a boil, reduce heat, and simmer for 5 to 10 minutes.
Bake ham in preheated oven uncovered for 2 hours.
Remove ham from oven, and brush with glaze.
Bake for an additional 30 to 45 minutes, brushing ham with glaze every 10 minutes.
Tip: Aluminum foil can be used to keep food moist, cook it evenly, and make clean-up easier.