Henson, who met with his Wales colleagues on Sunday to discuss the book, says offending fellow members of the Grand Slam winning side was 'the last thing he wanted to do'.
The Ospreys centre says he hopes the meeting cleared the air between him and the Wales camp and he can now move on and put any talk of the book and its contents behind him.
"The rest of the squad asked me to meet with them on Sunday and I was really happy to do so," said Henson.
"They wanted to make it clear to me that they were unhappy with some of the things that I said in the book and I have fully taken on board everything they said to me.
"I said in the meeting that I would like to apologise to anyone who was offended by anything that was written and I would like to go on record publicly saying that too.
"I didn't mean to offend anyone, it's the last thing I wanted to do, and I do understand why the boys were unhappy, and I apologise to them.
"We were a close and tight-knit group during our Six Nations campaign and I don't want to spoil that.
"All I want now is to forget about it, the book's out there, there's nothing more I can do about that, I just want to draw a line under the whole thing and move on.
"I want to get back to playing rugby for the Ospreys and hopefully get back to playing well enough to be selected by Wales, re-join my international team-mates and move forward.
"I was a small part of a large group of players that did something very special last season and I want to be a part of that again."
Wales captain Gareth Thomas, who arranged the players only meeting, added that he feels the conversation was a healthy one and it cleared the air.
"We were pleased to see Gavin and it's great that he's come out in public and accepted he has been wrong with some of the things he's said," added Thomas.
"We needed to discuss it face-to-face so there was no mis-understanding. As a squad of players we now feel we can move on and hopefully this will be the last public comment on the matter."
Wales Under 18 captain Callum Bradbury is delighted to have seen his side claim a narrow 18-17 victory against a strong SA Schools 'A' side to end the three-match Under 19 International Series in South Africa on a high note.
The Wales U18 squad spent an emotional day in the drug-riddled townnship of Hout Bay. Hout Bay Warriors President Fred Johannes said the visit was 'the talk of the town' and will dream about the day everyday for the rest of his life.
RGC 1404's new head coach Mark Jones is hoping to build 'something special' in north Wales and is already looking forward to the development region participating in the Principality Premiership for the very first time.
A joint venture between the WRU and Admiral saw hundreds of children enjoy the Admiral Festival of Rugby held at the National Centre of Excellence at the weekend where Welsh internationals Sam Warburton, Scott Williams and Rob Evans were in attendance.
Wll Jones leads Wales U18s into battle this afternoon against Italy where the Welsh side will be seeking to bounce back from their narrow defeat to SA Schools in their opening clash of the U19 International Series
All four regions attended a successful training camp staged last weekend at the WRU National Centre of Excellence. It was a chance for new Wales Women's head coach Rowland Phillips to deliver his key messages to players and coaches as he prepares for the new season.
Wales U18 Team Manager Gethin Watts believes the next couple of weeks will be 'extremely beneficial' to the future of Welsh rugby as his side prepare to take part in the Under 19 International Series being staged in South Africa.
The WRU is searching for 12 new rugby development apprentices following a successful first year of its WRU Coach Core programme. Craig Duncan and Jess Hancock have flourished in the first year of the programme which has given them a real direction in their lives.
The WRU signed TV comedian Rhod Gilbert up to a 'Coaching Children Level 1' course before letting him loose on an U8s side at Whitland Junior Borderers - we went behind the scenes to film the making of 'Rhod Gilbert's Work Experience' see the results here.
Llandovery are aiming to make it three titles in a row in this year's Foster's National 7s being held at BT Sport Cardiff Arms Park on Sunday 28 August. Drovers assistant coach Simon Davies and Lee Rees assess their sides chances
A pioneering strength and conditioning programme has been delivered to more than 8000 boys and girls at hub schools throughout Wales this season, helping to develop stronger, more flexible athletes for rugby and other sports.
The Singha Premiership Rugby 7s Series returns to the BT Sport Cardiff Arms Park on July 22nd when all four Welsh regions go head to head. Scarlets skills coach Dai Flanagan and Blues Elite Performance Pathway Manager Richard Hodges along with current Welsh squad members were at the launch of this season's event