Place ham in a large pot and cover with water. Soak 8 hours to overnight to remove salt.
Preheat the oven to 325 degrees F (165 degrees C). Line a roasting pan with aluminum foil.
Mix orange juice, brown sugar, and dry mustard together in a small bowl.
Drain ham and pat dry. Place in the prepared roasting pan. Score the outside of the ham in a diagonal pattern and coat with orange juice mixture. Insert cloves at cross marks.
Bake in the preheated oven until heated through and glaze is well browned, about 2 hours. Let sit for 20 to 30 minutes before carving.