He added: "For those who have been affected by HIV and AIDS, the examples of resilience within one's self and the community, have been felt and fostered for decades.
"At Sentebale we see the resilience of young people every single day, which is why I've been inspired each day, since founding the non-profit organisation with Prince Seesio in 2006."
The royal hailed those being helped by the charity as "role models", as he said they have learned to "bounce back" despite facing hardships.
In the video - which was shared on Twitter - he explained: "As you're about to see, these young people are about to speak out, chasing justice, as role models to their peers, support HIV prevention and challenge limiting systems in the hope of a more inclusive and accepting environment for all.
"And when they face set-backs, they not only push back, but bounce back. They are resilience personified. We all succeed when they are empowered."
Harry co-founded Sentebale with Prince Seeiso of Lesotho in 2006 to improve prospects for young people living with HIV and AIDS, and the organisation has since delivered adolescent-friendly HIV testing and counselling services to more than 21,000 people.