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."
Porthcawl recently received a WRU facilities grant and funding from Natwest RugbyForce in order to give their changing rooms a facelift. This came after receiving £10,000 in a WRU facilities grant last year to tarmac their car park. The improvements have already helped to make the club more accessible, not only for their own members and players but for the whole community.
The Welsh Rugby Union has launched a new, accredited Safeguarding and Protecting Children course - funded by the WRU and delivered in partnership with Sport Wales and the NSPCC - fo rugby club volunteers around Wales.
The SWALEC semi-final draws threw up some mouth-watering clashes in the Cup, Plate and Bowl as the 12 teams aim for the Millennium Stadium Finals Day. All the semi-finals are to be played on the weekend of April 12.
Welsh whistler Rhys Thomas continues to scale the heights of the game as he prepares to be an official in this weekend's Hong Kong Sevens tournament, undoubtedly the showpiece event on the World Series calendar.
Wales International Ian Evans and Wales and Lions legend Scott Quinnell swapped rugby balls for paint pots at Tonna during the RBS 6 Nations. They surprised club players with a special clubhouse makeover to launch NatWest RugbyForce 2014 - a programme developed in partnership with the WRU to make rugby clubs stronger businesses by improving and renovating their facilities with the support of volunteers and the local community.
Fresh from claiming the Bowl honours in Tokyo last Sunday, the Wales Sevens squad have settled into their routine as they prepare for this weekend's Hong Kong tournament where Iolo Evans is aiming high, as WRU TV's Graeme Gillespie discovers.
The Welsh Rugby Union has recently teamed up with Prostate Cymru to help the charity launch its latest campaign to raise awareness of the disease. Members of the Wales squad helped produce a short video and promotional material for the campaign titled 'The Best Defence - is to know the FACTS'.