Preheat oven to 325F. Place ham in a shallow roasting pan. Score ham by making diagonal cuts, 1/4-inch deep, in a diamond pattern. Insert an oven-going meat thermometer into center of ham; the thermometer should not touch the bone, if present. Roast for 1-3/4 hours if using bone-in ham or 1 hour if using boneless ham.

Meanwhile, in a bowl combine 3 tablespoons of the brown sugar, the 3 tablespoons mustard, and rosemary. Brush mixture over ham. Roast for 15 minutes more. Meanwhile, for glaze, in a 2-quart saucepan combine the remaining brown sugar, the pineapple juice, and 1/4 cup mustard. Bring to boiling over medium heat, stirring frequently. Remove 1/2 cup glaze to brush over ham. Set aside.

Bake ham 30 minutes more or until thermometer registers 140 degree F, generously brushing with the 1/2 cup glaze several times during baking.

Meanwhile, add pineapple to remaining glaze in saucepan. Bring to boiling; reduce heat. Simmer, uncovered, for 20 minutes. Transfer ham to serving platter. Slice ham and serve with pineapple sauce. Makes 16 to 24 servings.

Cut two peeled and cored pineapples into 1/2-inch-thick slices. Brush each slice on both sides with a little cooking oil; sprinkle lightly with some snipped fresh rosemary. Heat an indoor grill or grill pan. Grill pineapple slices just until they start to brown, 1 to 2 minutes per side, turning once.