Despite the visitors taking an early lead at Twickenham, England came back to see off their old rivals 38-18 and retain the Calcutta Cup.
"I'm pleased with the scoreline. I definitely would have taken that at the start of the day," Lancaster told BBC Sport.
"Our intent to play was excellent. We were a little bit loose on occasions but overall, I'm pleased with that start."
England continue their campaign next Sunday when they travel to Ireland, who beat Wales 30-22 in Cardiff earlier in the day.