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."
WRU TV were on hand at the launch of a major new commercial deal with WRU and Mercedes-Benz South Wales (part of the Sinclair Group), which sees the family company become an official supplier to the Welsh Rugby Union
On the back of the recent Women's Rugby World Cup, the WRU has launched a revitalised Women's and Girls domestic seasonal structure, and the future is looking bright.
Go to www.wru.co.uk/tryourgame for more information
Roger Lewis talks to WRU TV at the announcement of a new £60 million Rugby Services Agreement (RSA) which provides a new and positive contractual relationship between the WRU and its four Regions for the next six years has been agreed.
The Welsh Rugby Union has announced a major new sponsorship deal with Gullivers Sports Travel which will make the UK's leading, and longest established, multi-sport tour operator, an Official Supplier for the rest of the decade.
Having taken part in seven World Cups as a player and coach, Liza Burgess hopes to go out in style this afternoon when Wales take on Australia in the Play-off for seventh and eighth place in the Women's Rugby World Cup in Paris.
WRU Head of Rugby Josh Lewsey met with volunteers across the game earlier this week, championing their role in the sport. He was joined by Wales captain Sam Warburton for part of the day as volunteers took part in a 'Try Out' event for the 2015 Rugby World Cup