Combine first six ingredients. Place trimmed ham in foil lined roasting pan. Score ham to make diamond pattern. Pour orange juice and Madeira into pan. Bake ham until heated through, about 45 minutes, at 400 degrees. Remove ham from oven and spread with mustard mixture. Increase oven temperature to 450 degrees and bake ham until golden, about 40 minutes. Skim fat from pan and discard. Heat pan juices and add fresh marjoram. Season with salt and pepper. Serve with ham. Yield: 8 servings.