In 1875, he volunteered to represent the Church of Scotland in an endeavour by the Free Church of Scotland to establish a mission in the Lake Malawi region in memory of medical missionary and explorer David Livingstone (1813-73).
[3] In 1876, Chief Kapeni gave Henderson land at modern Blantyre (named after Livingstone's birthplace)[4] to create a Church of Scotland mission.
David C. Scott to head the mission, Henderson expanded its activities to Zomba, Domasi and Mulanje.
A river steamer, Henry Henderson, purchased by Blantyre Mission in 1892, was named in his honour.
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