Cut the ham into even slices. I prefer the ham sliced thick - about 1/4-inch slices. However, you can slice it thinner or thicker based on your preferences OR leave the ham whole and proceed with the recipe, slicing after it has been baked. If leaving whole, you may need a slightly longer baking time.
Place the ham slices in a 9X13-inch dish. If the ham you are using is bigger or smaller, adjust the size of the pan accordingly. The ham slices can be layered.
Sprinkle the brown sugar across the ham and rub the sugar into the ham slices, flipping the pieces so the sugar gets on both sides.
Pour the pineapple juice evenly over the ham. Drizzle the maple syrup evenly over the ham.
Cover the dish tightly with foil. Bake for 30 minutes until heated through and warm. Don't over cook the ham.
Spoon cooking liquid in bottom of the baking pan over the ham before serving.
Notes
Ham: I usually use the master carver half ham from Costco (Kirkland brand) - different stores/brands may package or brand it differently, but you are looking for a boneless half ham that is not pre-sliced. A ham weighing anywhere between 3 and 5 pounds will work in this recipe without adjustments. Dish: rather than a 9X13-inch dish, the ham can also be baked in an oven-safe cast iron pot with a lid. This works especially well if not slicing the ham before baking.