You can take as many henchmen as there are available. Depending on how far in the game you are, the maximum party size differs. Just know that you can only have 1 copy of a henchman in your party (you can't have two copies of Mhenlo in the same party, for example).
Now if you mean heroes, then your friend can take 3 more with him bringing your party size to 8.
The party size always has a maximum. In the starting areas that party size is 4(later increases to 6 and8). How you reach those 4 players doesn't matters. So that can be you + 3 hench, or you + 1 person +2 hench,...