[5] Henricsson graduated from the Military Academy Karlberg in 1969 and was commissioned as an officer at the Göta Life Guards with the rank of second lieutenant.
Henricsson served as battalion commander in the Skaraborg Regiment (P 4) from 1986 to 1987 and from 1987 to 1990 he was system leader for Combat Vehicle 90 and the Swedish tank programme in the Army Staff.
[2] His robust approach impressed his UNPROFOR commander Michael Rose, the press corps, his Danish colleagues in Nordbat 2 and the local parties.
[10] The result on the ground proved the critics wrong, however, and Henricsson's approach was eventually codified in the Swedish peace support operations doctrine published in 1997.
[3] On 22 February 2006, Henricsson was appointed as the new head of the Sri Lanka Monitoring Mission effective from 1 April 2006, replacing Brigadier Hagrup Haukland.
[15] Henricsson became a member of the Royal Swedish Academy of War Sciences in 1996[16] and served four years as chairman of the Land Warfare Studies Department.