Henderson celebrated his 36th birthday by appearing at a news conference announcing his arrival.
"I'm really excited about being here," Henderson said. "I think it is a great opportunity here at Delaware. I am looking forward to my first head coaching opportunity and ready to get going."
Henderson served as an assistant to Duke's Mike Krzyzewski for the last three seasons. He also played for the Blue Devils from 1983-86, and was co-captain of Duke's 1986 Final Four team.
Krzyzewski predicted success for his prodigy.
"I am very proud of David Henderson," Krzyzewski said. "I think he is absolutely perfect for Delaware and is ready to be a head coach. He showed a toughness and a competitiveness that will serve him well as a head coach."
It is Henderson's first head coaching job, and he will be the first black head coach Delaware has had in a varsity position. Henderson replaces Mike Brey, who resigned last Friday to take the head coaching job at Notre Dame.
Duke has produced three consecutive Blue Hens men's basketball coaches. Brey and Steve Steinwedel were also assistants to Krzyzewski.
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