The intimate ceremony was officiated by 'Euphoria' star Colman Domingo.
The musicians were joined on stage by Muni Long, Ari Lennox, and more for the last number.
Stevie Wonder, Lil Baby, Ari Lennox, and more are also set to take the stage.
"I just want to let you know that I love your voice, incredible," the Motown legend told Ari.
Introducing VIBE Lineage, where we honor the new generation of Black excellence.
The multifaceted crooner talks "being like water," collaborations, and more.
The Broadway actress most recently appeared in a production earlier this year.
Henderson was considered one of jazz and soul music's most influential and innovative acts.