Scores of people from across the UK came to Market Place for the three-hour party in the town centre.
The event, which took place on Saturday, was opened by Henley Mayor Julian Brookes.
He was presented with a model camel by Yusuf Djama, one of the organisers from Borama. “The handing over of a camel is a tradition. If someone has one it means they are very, very rich,” Mr Djama said.
People had come from across the UK to attend the event from places such as Luton, Birmingham, Leicester and Bristol.
Mr Djama added: “They have all come especially for the event. It’s very good to see all these people here.
“They are happy we have such lovely weather for it. There was dancing and singing, the traditional type from Borama.” Crowds gathered round for the dancing led by people in traditional clothing. Members of the public were invited to join in.
Henley Mayor Julian Brookes also got involved with the dancing. He said: “It was something I had never experienced before.
“The ladies wore especially colourful outfits which were very striking.
“It was a great event with our friendship town. I was very pleased to be invited to kick off proceedings.” Brigadier Malcolm Page, of Ancastle Green, founded the Henley Borama Friendship Association in 1983.
He said: “I was delighted with the celebration — I thought they were very entertaining and well stewarded.
“I would have liked to have seen more Henley people there. Last time they had people join in with some of the drumming.”