Catalyzes the ATP-dependent ligation of histidine to the 3'-end of its cognate tRNA, via the formation of an aminoacyl-adenylate intermediate (His-AMP) (PubMed:29235198). Plays a role in axon guidance (PubMed:26072516). ATP + L-histidine + tRNA(His) = AMP + diphosphate + H(+) + L-histidyl-tRNA(His) kcat is 5.4 sec(-1) for aminoacylation of tRNA(His) (PubMed:29235198). kcat is 4.1 sec(-1) for histidine. (PubMed:29235198). kcat is 5.8 sec(-1) for ATP (PubMed:29235198). Homodimer. Brain, heart, liver and kidney. The disease is caused by variants affecting the gene represented in this entry. The disease is caused by variants affecting the gene represented in this entry. Belongs to the class-II aminoacyl-tRNA synthetase family.