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 Head Coach Rob Howley talks to WRU TV's Sebastian Barrett about the 36-man squad he has just named for the forthcoming Under Armour series, which includes two uncapped players, Ospreys duo Sam Davies and Rory Thornton.
Head coach Rowland Phillips is deligthed he can now call BT Sport Cardiff Arms Park home for his Wales Women's side, who launch their international season next month with games against Scotland and UK Armed Forces in the heart of the capital city.
Wales Sevens star Sam Cross has put his home town club of Brynmawr on the map after winning a silver medal at the Rio Olympics with Team GB. His club have now honoured him by naming their players bar after him, as WRU TV discovered at the official launch, recently.
One of the newest members of the Principality Premiership, Bargoed admit it's proving to be a steep learning curve at the highest level, but are determined to become a force to be reckoned with. WRU TV visited the club last weekend when they took on Llanelli.
Table-topping Aberavon travel to north Wales to tackle RGC 1404 as both teams defend unbeaten starts to the season in the Principality Premiership. WRU TV's Graeme Gillespie visited the Wizards to see how their preparations were going for the game of the weekend.
The Half a Game initiative is currently sweeping across Wales and proving a major success. The scheme aims to give every young player at least half a game every weekend. WRU TV recently visited a festival in Narberth where clubs have fully embraced the initiative.
Both Bargoed and Swansea were seeking their first win of the Principality Premiership season this afternoon. It proved a fruitful day for the hosts - not only did they win, but Bargoed claimed a try bonus point.
Cardiff managed to keep their unbeaten record at home intact, but only just as Bridgend made them work extremely hard before the Blue and Blacks secured a hard fought Principality Premiership win at the BT Sport Arms Park last night.
Former Wales back row Andy Powell gives a guided tour of The Wern, home of Merthyr RFC, who are determined to prove a lot of people wrong and make their mark in their first season in the Principality Premiership.