The Three Lions earned a dramatic 14-run victory over the Aussies at Trent Bridge on Sunday to take a 1-0 lead in the series.
Many pundits before the opening Test had predicted a clean sweep for England, but Prior is adamant that the players were never expecting an easy clash.
"It was always going to be [a tight series] and that's what we have prepared ourselves for," Prior told a press conference.
"I think that's one of the reasons we dealt with the situation so well and dealt with the game so well. We stayed calm and that was a lot to do with our preparation and what we expected."
Prior has also confirmed that he will be fit for the second Test on Thursday.