The Blues host the reigning European champions at Stamford Bridge on Wednesday night in the first leg of their last-four clash.
Despite going into the tie as underdogs, Lampard believes that his teammates can cause an upset with the right performance.
"We've got as big a fight on our hands as we could have playing against the best team in the world," he told The Sun. "But I believe in the team we've got and we've shown in our recent performances we have the will to do it.
"We know we're up against it playing Barcelona and [Lionel] Messi. If we can get through those then we'll take anyone in the final. We've been so close so many times."
Barca dumped Chelsea out of the competition at the same stage in 2009 thanks to Andres Iniesta's late away goal at Stamford Bridge.