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If using wooden skewers, soak in water for while preparing ingredients. Rinse quinoa in a fine sieve until water runs clear, then drain and transfer to a medium pot. Add 1 cup water and bring to a boil. Cover, reduce heat to medium low and simmer until water is absorbed, 15 to 20 minutes. Set aside off the heat for 5 minutes; uncover and fluff with a fork. Stir in parsley, pine nuts, lemon zest and salt.
Meanwhile, prepare a grill for medium heat grilling. In a small bowl, whisk together mustard, honey, lemon juice and pepper. Thread chicken, pineapple, pepper and tomatoes onto skewers. Remove 1 tablespoon honey-mustard mixture and brush skewers with it. Grill, turning occasionally, until chicken is cooked through and vegetables are tender, 12 to 14 minutes. Arrange skewers on a platter over quinoa and serve with remaining honey mustard on the side for dipping.