The son of a minister, Henderson and family moved during the early years of his life traveling from Chicago to Minneapolis and eventually settling in Fresno.

During high school, he took an early interest in oratory and politics by serving on the Associated Student Body along with another future Fresno mayor Gordon Dunn.

Along with fellow councilmember and future Fresno mayor Ted C. Wills, he worked to overrule or dismantle development plans that would slow city expansion, size, and density.

[9] He voiced support for the city to retain its bus transit system, today known as FAX; other councilmembers had called for its elimination.

In December 1964, Henderson chose to not seek a full term as mayor, which allowed for an open race for the mayoralty.