Add the quinoa and water to a medium-sized saucepan.  Bring to a boil then reduce the heat to low/simmer, cover, and cook for 12 minutes.  Do not stir.  Once the quinoa is fluffy and the water is absorbed, remove the pan from the heat and let stand, covered, for 5 minutes.  Fluff the quinoa with a fork and spread the quinoa onto a baking sheet to cool.  In a medium bowl, combine the grapes, cucumber, herbs, oil, lemon juice and zest, salt, and pepper.  Gently fold the cooled quinoa into the grape mixture and serve.