To a large mixing bowl, add the peaches with juice, pineapple chunks with juice, and the vanilla pudding mix. Stir until the pudding mix is fully dissolved into the juice.
Stir in the strawberries, bananas, and grapes until coated.
Cover with plastic wrap and chill for at least 30 minutes or until ready to serve. Transfer the fruit salad to a serving bowl or portion it into individual cups for serving. Garnish with a sprig of fresh mint if desired.