Combine the brown sugar, pineapple juice, melted butter, mustard, garlic, and ground cloves. Stir until combined.
Brush the ham generously with the glaze, covering the entire surface. Cover the ham loosely with foil and bake for 1.5 to 2 hours, basting with the glaze every 30 minutes.
Remove the foil for the last 30 minutes of cooking, covering the ham in additional glaze. Bake until the internal temperature of the ham reaches 140°F (60°C).
Let the ham rest for 15 minutes before slicing and serving.
Notes
I like to dry the surface of the ham with paper towels before I add the glaze so that it doesn't slide off.
To get a nice juicy ham, it's helpful to allow the ham to come to room temperature before placing it in the oven.
If you are using uncut ham, I recommend scoring the ham in a diamond pattern before you glaze it so the glaze can soak into the ham and give it a great flavor.
Keep in mind that large or smaller ham will change the cooking time. I recommend cooking for at least 15 minutes per pound.