In a bowl, whisk together the brown sugar, honey, dijon mustard, apple cider vinegar, and orange juice. Pour over the ham.
Secure the lid. Set the time 3-4 hours and LOW temperature, Press START to cook. Ham is done when a meat thermometer registers at 140F.
Arrange the ham on a serving platter along with fresh herbs and fruit for aesthetics.
Spoon the glaze over the ham. Slice and serve.
To store leftovers: slice the ham and discard the bone (or save to make soup with). Place the ham slices in an airtight container. Refrigerate for up to 5 days, or freeze for up to 3 months.