"It was the first time that me and Frank have played together in the middle for quite a while and there has been so much talk over the years about whether we can do it in the same side," said Gerrard in The Sun.
"But I've always enjoyed playing with Frank. He's a good player and we've a good understanding.
"All we're interested in is winning matches and we both did well on Friday night."
England are back on action on Tuesday when they host Ukraine at London's Wembley Stadium in their second Group H fixture.