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."
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.
Wales Sevens head coach Gareth Williams looks back on the Rio Sevens success where he helped GB win silver. He believes the successful campaign is a huge boost to his Welsh squad as they prepare for another World Series, as WRU TV's Graeme Gillespie discovers
British and Irish Lions head coach Warren Gatland will be heading back home to take on the All Blacks next year where for him, success for 2017 is all about going to New Zealand and winning a Test Series.
Last week all roads led to Eugene Cross Park where defending champions Ebbw Vale hosted this season's launch of the Principality Premiership. WRU TV's Graeme Gillespie was there to capture the thoughts of Damien Hudd, captain of Ebbw Vale, and WRU Head of Performance, Geraint John.
Llandovery made it three in a row when they defeated Aberavon in the final of the National Foster's 7s at BT Sport Cardiff Arms Park on Sunday. On another eventful day of sevens, Newport claimed the Plate and the Dragons won the women's crown
Last week saw Cardiff welcome players from around the world for the 21st Golden Oldies Festival. The tournament features players over 35 years of age, and this year's event saw a select few represent the WRU in a 'friendly' against the Wooden Spoon.
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.