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Preheat oven to 325°. For glaze, combine brown sugar, orange juice, honey, and Dijon mustard in a small saucepan. Bring to a boil, stirring constantly. reduce heat to medium; cook 2 minutes, stirring frequently. Score ham with a sharp knife to make diagonal cuts through the fat in a diamond pattern, about ¼-inch deep. Place ham on its side in a shallow roasting pan. Brush ham with about 1/4 of glaze. Set aside remaining glaze. Roast 2¼-to-2½ hours or until ham reaches 145°. Brush with remaining glaze twice during the last 30 minutes of roasting. Remove from oven. Cover with foil; let rest 15 minutes before serving. To serve, transfer ham to a serving platter.
