The Royals dominated the first half in the Championship season opener at the Madejski Stadium before deservedly taking the lead shortly after the restart through Jon Dadi Bodvarsson.
"I'm fully aware of what needs to be done now but we've got a long season coming, but what a start," Lampard told Sky Sports News.
"I was fortunate to have had a good career as a player but I've had some time away and you miss the bug that is football. I enjoyed it at the end because of the result.
"I also feel for Paul Clement because Reading probably didn't deserve to lose that game."
Reading travel to Nottingham Forest next Saturday, while Derby host Leeds United in the day's late kickoff.