Played bass with Miles Davis during his fusion era of the early 1970s and played on albums like A Tribute to Jack Johnson and Live-Evil.
He began touring with Stevie Wonder after meeting him while warming up for a gig in Chicago.
His bass riffs have been sampled on tracks by artists like Snoop Dogg, who coveted his deep, fluid grooves.
He married a woman named Adelia.
Henderson's work was covered by Eminem in the film 8 Mile.