The 35-year-old midfielder has returned to the Premier League following his stint at Ajax after the Dutch club agreed to end Henderson’s contract a year early.
Speaking to Brentford’s website, he said: “I try my best to pass on my experiences, especially to the younger players. But, at the same time, I still need to perform and do my job on the pitch.
“It's a given that I'll help everybody around me but, even at my age, you can still learn a lot, you can still improve, and you can still get better, which is what I want to do at this club.”
The former Liverpool captain - who won the Premier League, Champions League, FA Cup, two League Cups, Community Shield, Super Cup and Club World Cup with the Reds - moved to Saudi Arabia’s Al-Ettifaq, managed by his ex-Liverpool teammate Steven Gerrard, in July 2023.
However, six months later, Henderson’s contract was cancelled, and he was transferred to Ajax.
Brentford’s head coach Keith Andrews said Henderson would “drive standards and be a brilliant addition to the squad”.
Andrews said in a statement: “When we became aware of Jordan’s availability, it was a pretty simple decision.
“We did our due diligence around his recent games to see where he is: he’s still phenomenally fit and he’s still phenomenally motivated to achieve things in the game, having already achieved a lot.
“With the void of experienced players leaving the building - Christian Nørgaard, Mark Flekken and Ben Mee - it was important to replace that.
“We’ve got a pretty young squad, overall, and we’ve got a lot of club experience, which is really important, with the likes of Vitaly Janelt, Mathias Jensen, Ethan Pinnock and Josh Dasilva, who is still at the club doing rehab.
“But what Jordan will bring is that he has been one of the most influential leaders in modern Premier League years. He’s been at the forefront of driving for titles and Champions Leagues at a fantastic football club.
“He also has experience at international level with England and, with that, comes a level of experience, professionalism and dedication to his profession - that’s the exact way we want to be as a football club.
“He will drive standards and be a brilliant addition to the squad.”
