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Preheat your oven to 400F.
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Prepare the chicken pieces by trimming off any excess fat and skin.
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Mix up the marinade by combining 1 tablespoon of mustard, 1 tablespoon of fresh rosemary, 2 tablespoons of olive oil, and a pinch of salt and pepper.
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Pour the marinade over the chicken and it into the chicken pieces, making sure to tuck some beneath the skin.
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Preheat a large cast iron (or other oven-safe) skillet on medium heat. Place the chicken pieces skin side down, and sear until golden brown, about 2-3 minutes per side.
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Mix up the glaze by combining the pineapple glaze, mustard and chicken stock (or water). Pour the glaze all over the chicken, distributing it evenly.
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Bake the chicken for 25-30 minutes, until the chicken is cooked through and the glaze is bubbly and thick.
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Be sure to spoon some of the glaze over the chicken when you serve it up, it's so good!