Henry put his fellow CBS Sports Golazo co-host Richards to work as the pair took part in several workouts.
The duo were alongside presenter Kate Abdo and Liverpool legend Jamie Carragher in the studio during Tuesday night's Champions League coverage.
Before the evening's action began - as Man City beat FC Copenhagen and Real Madrid sealed a win over RB Leipzig - Henry, Richards and Abdo looked back on their recent trip to the United States to watch the Super Bowl in Las Vegas.
It appears they spent part of their down time in the gym, where any football fan would assume Richards was in his element.
However, it appears he got a bit of a schooling from Gunners great Henry, who had the ex-Man City defender sweating as he took charge of their workout.
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As part of the video, Richards can be seen wiping sweat from his brow, before saying: "Never, ever, ever, and I mean ever, train with this guy [Thierry Henry]."
"It is not normal, mate. Seriously," he added, breathlessly.
Meanwhile, Henry can be seen in the background casually taking a sip of water while flexing his arms - with the 46-year-old looking in tremendous shape despite hanging up his boots ten years ago.
Henry, who made 377 appearances for Arsenal, scoring 228 goals, previously revealed that it has always been part of his regime to maintain his fitness.
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"I've been a sportsman all my life and fitness is something that I've always taken care of and comes to me instinctively," he said in an interview with GQ Magazine.
"But whether you're a sportsman or something else, you always have to fight your mind to find the motivation to hit the gym."
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"I look at all the other retired footballers who've lost shape. I see them and I feel, 'I don't want to look like that!'
"So no matter where I am, I make sure I get a good one hour of gym-time every day."
It definitely shows, Titi!