At 35, the 103-cap Lampard is the oldest player in a squad that he believes contains a good mix of youth and experience.
"It's a good squad with a mixture of youth and experience. I think we were crying out a few years ago for these young boys to come through and excite us and I think they've done that," Lampard told Sky Sports News.
"As an experienced, older member of the squad I do enjoy having that around, it does feel good. Hopefully they play without fear and go and play well."
England will face Italy in their first World Cup group match on June 14.