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."
Principality Stadium will host the UEFA Champions League Final in six weeks' time. WRU chairman Gareth Davies, Football Association of Wales chief executive Jonathan Ford and Ambassador Ian Rush joined young sports fans at the trophy arrival at the venue to celebrate the magnitude of the event on Saturday 3rd June (kick-off 19.45).
British and Irish Lions captain Sam Warburton is looking forward to bringing together players from Ireland, Scotland, England and Wales for the biggest challenge of their careers - a series against world champions, New Zealand.
For the fifth year running, Wales referee Nigel Owens will be in charge of proceedings at Judgement Day V at Principality Stadium. It promises to be 'extra special' for the Wales' favourite ref, as he will be making his 150th appearance in the league.
There will be no shortage of inside knowledge from Bowl Finalists Caerphilly and Amman United when they face each other on Sunday at National Finals Day. Caerphilly hooker Rhys Cleverly knows the Principality Stadium pitch better than most as a matchday groundsman, while Amman United can look to Wales' record try scorer Shane Williams for some helpful advice.
Two hundred and 40 teams competed in the inaugural Urdd WRU 7s held at Pencoed last week with Welsh internationals Steff Andrews and Jasmine Joyce impressed with the talent on display, as was Urdd chief executive, Sioned Hughes.
The countdown is on for Judgement Day V as tickets for the big day at Principality Stadium soar through the 50,000 mark. Players and coaches alike are bursting at the seams to play in the double header with Dragons coach Kingsley Jones claiming there is a 'real buzz' about the event.
WRU TV went behind the scenes when the four regions got together to test their skill set for the BBC's Scrum V Live rugby show, at the WRU National Centre of Excellene in the build up to Judgement Day V. Blues' Matthew Morgan was one of the stars of the show while the Dragons' Cory Hill proved a surprise package...the full set of results will be revealed on tv screens on matchday
Wales assistant coach Richie Pugh is confident his side can cause a few headaches in the Hong Kong Sevens this weekend. In a tough group, Wales kick off their campaign against New Zealand on Friday before playing Japan and Fiji, who are chasing their third consecutive Hong Kong title, on Saturday.
Bedwas had to overcome a stubborn Carmarthen Quins side before winning the Foster's Challenge Cup final in Bridgend with a 23-18 victory. Bedwas captain Nicky Griffiths pays tribute to his side who have claimed the club's first piece of silverware in the modern era.
Team coach Brett Davey is aiming to keep his unbeaten run in cup finals at Principality Stadium intact when his side take on Amman United in the WRU Bowl final, after he guided Caerphilly to a 20-14 win against Cilfynydd in the semi-finals.
Penallta are hoping to go one step further than last season when falling to Bedlinog in the WRU Plate Final. After a titanic struggle against Nant Conwy, they have given themselves a great chance, after a hard fought 18-13 semi-final victory.