Hi. It sounds much more complicated than it actually is!
You need to go to Queen Street station then turn right onto station terrace then take second left into queen street then third left into park place. There is a side road first left and Henrys is just in to that road (crockherbtown lane ). The whole walk should take 5 mins.
If your train only stops at cardiff central get off and go to platform 6 where trains to queen street go every 4 mins and it is the first stop.
Good luck and see you soon x