"I'm not going to forget where I've come from", Adlard-Rogers told CornwallLive.
He said he planned to set up a charity to help people living in nearby Porthleven and Helston.
He added: 'I'm now starting to get my feet under the table here.
Charles was found dead in his auto, and an inquest last week heard he had led a reclusive life. Maybe then he might have taken a different path. He will receive £52,000 a year from the Rogers family trust.
Prior to receiving the test results, Adlard-Rogers, who recently had a son with his girlfriend, had been living in council housing and working as a community support worker.
An inquest found Charles suffered from drug abuse and his death was listed as an overdose from a prescription substance.
He was reportedly malnourished, neglected personal hygiene and rarely changed his clothes in the months leading up to his death.
Instead of living in his lavish home, Charles was sleeping in his auto.
Jordan, who bears a striking resemblance to his father, said he made a decision to speak out to give a fuller picture of his father's life before he died. He said: "I haven't been here long and don't know all the ins and outs but have been able to piece some of the puzzle together".
Jordan Adlard Rogers was struggling to make ends meet but never stopped believing Charles was his dad.
'It'd got to the point when he gave up on himself and was living in his auto instead of his house as it was such a mess.
'The Rogers family gave the National Trust 46 cottages and a couple of farms and now the Rogers Family Trust produces income for the life tenant'.
Charles Rogers' brother had been a pilot with the RAF and his dad a lieutenant commander in the Royal Navy, "so he had big shoes to fill", Mr Adlard Rogers said.
Despite inheriting incredible wealth and being able to give up his job, Mr Adlard Rogers said he would trade it in if his father could have known he was his son. He said the death of Rogers's brother Nigel from cancer - "who he was very close to" - and a stint in the army in Northern Ireland had affected Rogers "greatly".
He's now able to live off the money that the estate generates and also wants to hold a charity party in the grounds.