Arrange an oven rack in the center of the oven. Preheat the oven to 350°F.
Using a sharp knife, score the ham by cutting 1/2-inch-deep diagonal lines crisscrossing the top of the ham.
Line a baking pan with foil so that there are long overhangs on all sides. Place the ham in the baking pan then pour in 1/4 cup water. Fold the foil overhangs up and around the ham, pinching them closed to seal.
Roast the ham until the center reaches 120°F, 2 to 2 1/2 hours (roughly 15 minutes per pound). While the ham roasts, make the glaze.
In small saucepan set over medium heat, whisk together the pineapple juice, brown sugar, honey, Dijon mustard, apple cider vinegar, butter and a generous pinch of cracked black pepper. Bring the mixture to a boil then reduce the heat to medium-low and simmer, stirring occasionally, until it has thickened to a syrupy consistency, about 10 minutes. (It will thicken significantly as it cools.)
Once the ham has 30 minutes left to cook, uncover it and brush it generously with the glaze, reserving a small portion. Continue baking the ham uncovered for 30 more minutes.
Remove the ham from the oven then brush it with the remaining glaze. Let it cool for 5 minutes before slicing and serving.