Kane scored England's second on Tuesday evening to seal a place in the quarter-finals of Euro 2020.
Fans inside Wembley lost their minds and the celebrations on the pitch were also complete chaos.
Liverpool captain Henderson was waiting to come on as a substitute and watched all the action unfold from the touchline.
Henderson can be seen barking instructions to his teammates and as soon as Kane's header goes in, he goes crazy.
Incredible scenes. The 31-year-old couldn't help but give manager Gareth Southgate a massive hug.
:flag_black: When you're waiting to come on but end up celebrating a goal!:grin: @JHenderson living every moment :raised_hands:#EURO2020 ' @England pic.twitter.com/xgwtelabpD
- UEFA EURO 2020 (@EURO2020) June 30, 2021
Henderson eventually replaced Declan Rice with minutes to spare and just had to help his side see the game out.
Fans have reacted to his celebrations and they know exactly how he felt.
He's basically me stood in front of the telly twitching all game shouting, move it! feet! Quicker! Attack! https://t.co/C28V73lWKQ
- Machiavelli (@EwanMetcalf) June 30, 2021
Love the passion, football might just be coming home. https://t.co/0F2DDh4XLP
- Fred Fisher (@fredfisher_) June 30, 2021
Love that from Henderson... proper leader, on and off the pitch. https://t.co/O2VCaE31e6
- Josh Wright (@jusheswright) June 30, 2021
Hendo yells "GO ONNNNN" from the side just enough for him to be MOTM to me What a leader this guy! Cant wait to see him with that Euro Trophy. https://t.co/R1Iwx1FeYs
- Elenaaaa (@ellenaskz) June 30, 2021
Southgate...you hero! The celebration then back on it as manager! Such composure https://t.co/3nPUiOudKR
- Kim Noadster (@chipmunkowl) June 30, 2021
England will now face Ukraine on Saturday night and it means there isn't a long time to prepare.
Southgate spoke post-match and admitted his side can't be complement.
"I think the players were immense right the way through the team," Southgate said per The Guardian. "To know so many millions of people after such a difficult year at home can have that enjoyment is very special.
When we got in the dressing room we were talking about Saturday. Today was immense. But emotionally and physically there is a cost.
"It's a dangerous moment for us. The warmth of success, the feeling we only have to turn up to win the thing, we know it's going to be an immense challenge. The players know that.
"They should feel confident from the way they've played. We came here with an intention and we've not achieved that yet.
"I'm just thinking about Saturday. It was lovely to be on the side to see the second goal go in. It was a really special moment. We've not achieved what we want to achieve yet. We can look back on today in the future. I want to get Saturday right."
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