The match will be Henshaw's first match since the pre-tournament win over Wales and he is partnered in the centre by Bundee Aki.
Jonathan Sexton and Conor Murray form a familiar and experienced half-back partnership while in the back three Jordan Larmour is at full-back with Keith Earls, who won his 80th cap last time out, and Jacob Stockdale on the wings.
Rory Best returns to captain the team and he is joined in the front-row by Cian Healy and Tadhg Furlong.
Iain Henderson and James Ryan are again partnered in the second-row while the back-row sees CJ Stander at number eight with Tadhg Beirne starting on the blindside flank and Josh van der Flier named at openside.
Niall Scannell, David Kilcoyne and Andrew Porter are the replacement front-rows while Jean Kleyn and Peter O'Mahony will cover lock and back-row.
Joey Carbery is included in the replacements after a late withdrawal against Russia.
Luke McGrath and Andrew Conway complete the backline cover.
Ireland: 15 Jordan Larmour, 14 Keith Earls, 13 Robbie Henshaw, 12 Bundee Aki, 11 Jacob Stockdale, 10 Jonathan Sexton, 9 Conor Murray, 8 CJ Stander, 7 Josh van der Flier, 6 Tadhg Beirne, 5 James Ryan, 4 Iain Henderson, 3 Tadhg Furlong, 2 Rory Best (c), 1 Cian Healy
Replacements: 16 Niall Scannell, 17 Dave Kilcoyne, 18 Andrew Porter, 19 Jean Kleyn, 20 Peter O'Mahony, 21 Luke McGrath, 22 Joey Carbery, 23 Andrew Conway
Date: Saturday, October 12
Venue: Fukuoka Hakatanomori Stadium, Fukuoka
Kick-off: 19:45 local (11:45 BST, 10:45 GMT)
Referee: Nic Berry (Australia)
Assistant referees: Romain Poite (France), Brendon Pickerill (New Zealand)
TMO: Rowan Kitt (England)