Lambert and Mancini were involved in a heated exchange during Villa's 4-2 victory over Manchester City in the Capital One Cup, but the Villa manager has insisted that he has no problem with his City counterpart.
Lambert told the Birmingham Mail: "It's no problem. I'll shake hands before and after like I always do. I'm pretty sure he'll shake hands. It was a heated game and emotions can overspill. I respect him and I don't have a problem.
"As a footballer you can try and influence certain things but as a manager you can't really do much after the lads cross that white line. I'll always be competitive as a manager or playing golf or snooker.
"It's football. It's emotional, sometimes you get caught up in things and think after that you've been stupid."
Villa are currently sitting in 17th place in the Premier League table.