He came to prominence in the early 1970s as a member of pianist Herbie Hancock's Mwandishi band, going on to lead his own electric/fusion groups through the decade.

Henderson earned his medical degree and worked a parallel career as a psychiatrist and musician, turning back to acoustic jazz by the 1990s.

[1] After leaving Hancock, the trumpeter worked with Pharoah Sanders, Norman Connors, and Art Blakey's Jazz Messengers,[1] returning to the San Francisco Bay Area in 1975 where he joined the Latin-jazz group Azteca and fronted his own bands.

[1] Other jazz performers Henderson has played with include Elvin Jones, Johnny Griffin, Slide Hampton, McCoy Tyner, Benny Golson, Joe Henderson, Max Roach, Jackie McClean, Dexter Gordon, Roy Haynes etc.

[5] With Kenny Barron With Gary Bartz With Norman Connors With The Cookers With Stanley Cowell With Richard Davis With Charles Earland With Ilhan Ersahin With Joe Farnsworth With Benny Golson With Herbie Hancock With Billy Harper With Billy Hart With Willie Jones III With Jarek Smietana With Buddy Terry With Gerald Wilson With Pete Yellin With others