Henryków-Urocze [xɛnˈrɨkuf uˈrɔt͡ʂɛ] is a village in the administrative district of Gmina Piaseczno, within Piaseczno County, Masovian Voivodeship, in east-central Poland. It lies approximately 10 kilometres (6 mi) south-west of Piaseczno and 25 km (16 mi) south of Warsaw.