The accident killed 28-year-old John Edward Ogburn and injured two other people in his car. One suffered a broken leg, while the other had minor injuries.
All three were taken to Wake Med where Ogburn was pronounced dead.
Police said Ogburn was attempting to make a left turn onto Zachary Brooke Lane from Old Wake Forest Road, when Henderson passed Ogburn on the left and ran into his car.
They said Henderson then ran into the nearby woods where officers found and arrested him.
Henderson has been charged with two counts of felony hit and inflicting serious injury, careless and reckless driving, DWI, driving left of center, driving while license revoked and speeding. Police said additional charges may be pending.
Ogburn's friends and family spent Sunday morning cleaning the scene of the wreck.
Some said they heard the accident happen, rushed outside and called 911.
"The car of our friend, Eddie, in the middle of the road, turned around, flat tires, the side of the driver was totaled, smashed in," friend Pete Zografos said.
Ogburn's mother said what happened has amplified personal pain she's endured for many years. Back when her son was a teenager, his father died.
"Not many young men that would accept another man into their life at a critical point as Eddie did me," Ogburn's stepfather said. "That tells you something about the character he had. He was a fine young man."
"He was the perfect son! He was never in any trouble," Ogburn's mother said. "He always did the right thing and I was just so blessed to have him. Now I've lost my whole family."
"And he's (Henderson) certainly ruined my life," she said. "I want to forgive him for it, but it's just a little hard right now."
Henderson is scheduled to make his first court appearance on Monday.