He then entered the field as blood replacement for Gareth Thomas after the Wallabies had clawed back five points late in the first half, but saw no points change hands in the five minutes he was on.
A further 12 minutes of game-time came for the Ospreys back when he returned in the second half for Jamie Robinson at centre - the score was still 17-12 in Wales's favour when he came on, but he went on to endure the 29-23 last-gasp defeat.
Henson admits that his first appearance in a Wales shirt since November was a testing one against top quality opposition.
"It seemed easy didn't it? Watching from the bench you just wanted to get on, but they showed their class and came back at us to edge out the game," said Henson.
"It was hugely disappointing to lose after being 17 points up at one stage, maybe we should've finished them off, but you have to say they were the better team over 80 minutes because they went home with the victory.
"They weren't lucky, it was sort of on the cards that they were going to get back in it. At least we have another chance now this weekend. We will be looking for a big improvement on Saturday, and I'm hoping I can get involved.
"I think they've got respect for us now, some people were rubbishing us but we gave Australia a big game and we could have won it. We should've finished the game off but you can't dwell on that.
"I just want to get as much game time as I can now and be a part of this team; it's a case of taking your chances and there are games in August as well as this weekend that I hope I get involved in personally.
"I know everyone is talking about the World Cup but I always just think about the game I'm playing in, being there for my teammates and not about things in the future."