In a large mixing bowl, stir together the dry vanilla pudding mix and the pineapple juice. Gently fold the thawed frozen whipped dessert topping into the pudding mixture.
Fold pears, pineapple, peaches, and grapes into pudding mixture. Cover and chill for 1 to 6 hours.
Just before serving, fold in dark, sweet cherries. Serve on lettuce-lined salad plates. Makes 6 servings.