The American, significantly making his first appearance at the annual service to remember those who died in the 1989 disaster, gave a reading before addressing thousands assembled on the Kop at Anfield.
"I can understand the importance of the 96 to the club," Henry said.
"I have been humbled by the dignity and perseverance of the families in their search for truth and justice.
"It is an honour to be here on this particular day, the first service since the publication of the Hillsborough Independent Panel's report.
"Now there is a real belief that justice will be served.
"This club will always cherish the memory of family and friends lost 24 years ago today. They will forever be part of Liverpool Football Club."
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- Hillsborough Independent Panel