We consider the Kondo effect, arising from a hydrogen impurity in graphene. As a first approximation, the strong covalent bond to a carbon atom removes that carbon atom without breaking the C3 rotation symmetry, and we retain only the Hubbard interaction on the three nearest neighbors of the removed carbon atom which then behave as magnetic impurities. These three impurity spins are coupled to three conduction channels with definite helicity, two of which support a diverging local density of states (LDOS) ∝1/[|ω|ln2(Λ/|ω|)] near the Dirac point ω→0 even though the bulk density of states vanishes linearly. We study the resulting three-impurity multichannel Kondo model using the numerical renormalization group method. For weak potential scattering, the ground state of the Kondo model is a particle-hole symmetric spin-1/2 doublet, with ferromagnetic coupling between the three impurity spins; for moderate potential scattering, the ground state becomes a particle-hole asymmetric spin singlet, with antiferromagnetic coupling between the three impurity spins. This behavior is inherited by the Anderson model containing the hydrogen impurity and all four carbon atoms in its vicinity.