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The Chorus appears on stage and asks us to imagine that we've just watched Henry leave Dover, England and arrive on the shores of Harfleur, France. In fact, we should imagine we were on the ship with Henry and could hear the sounds of the crew, feel the wind on our faces, and smell the salty sea air.
While we're at it, we should also imagine that we've witnessed King Henry reject France's peace offering (Charles' daughter Catherine and some small, petty dukedoms).