Career
In 1961, he co-founded the soul jazz/hard bop group The Jazz Crusaders. Henderson left the group (who by then had changed their name to The Crusaders) in 1976 to pursue a career in producing, but revived The Jazz Crusaders in 1995. In 2007, Henderson took a position with the California College of Music in Pasadena, California.
Henderson died in Culver City, California on April 5, 2014 at the age of 74 from heart failure.