In a medium-sized bowl, whisk together the mustard, vinegar, honey, brown sugar, ketchup, Worcestershire, garlic, paprika, hot sauce (if using), salt, and pepper. Transfer to an airtight container until ready to use. It's best if it sits for 24 hours or so to let the flavors meld!
For the Dry Rub
In a small bowl, mix together the brown sugar, salt, paprika, salt, pepper, and garlic. Store in an airtight container until ready to use.