Combine first 5 ingredients in a nonaluminum saucepan; simmer over low heat 10 minutes. Remove from heat, and cool. Pour into a widemouthed jar; cover and let stand for 2 weeks in a cool, dark place, gently shaking jar occasionally.
Strain the vinegar mixture through a cheesecloth-lined sieve into a glass measure or medium bowl; discard solids. Cut 1 strip from rind of lemon; cut into very thin slices to equal 1 teaspoon. Pour vinegar into a decorative bottle; add pink peppercorns, lemon rind strips, and cilantro. Seal with a cork or other airtight lid; store in a cool, dark place.