Lampard believes England have players such as Wayne Rooney, Joe Cole and Aaron Lennon who will be "able to make things happen" in South Africa during the next month.
The Chelsea midfielder has the games against Mexico and Japan fully in perspective with Fabio Capello experimenting and fielding different line-ups and formations rather than the first-choice team which will face the United States on June 12.
But Lampard admits England have to play to their strengths - at a quick tempo and pressuring their opponents - if they are to do themselves justice in South Africa.
He said: "The Japan match was another warm-up game. Yes, it was not a vintage performance but the second half was much better than the first half, much livelier.
"We played with a lot more intensity and moved the ball quicker. We will take the positives out of it and then look at the negatives and try and put them right for the first game.
"We have to play with our style, which is quick and with pressure, if we are going to do want we want to do in the World Cup and in the second half we got a bit more towards that.
"But these have been two warm-up games and we have been working on a lot of things and training hard. We have not been playing settled teams, people have been tried out and you have got to put everything into the equation.
"These have not been the games that are going to win you the World Cup.
"These have been the games that are going to get you ready and the manager was pleased with some of the negatives because it has given us a chance to address them now rather than the need to address them at the start of the tournament."
Lampard is delighted to see his former West Ham and current Chelsea team-mate Joe Cole earn a place in the final squad of 23.
He said: "I think Joe did very well against Japan. He looked very lively when he came on.
"He offered us something behind the front men, and then wide a bit later on and was involved in one of the goals.
"It was the manager's decision but I am glad Joe is going because he is a very good player.
"We've got a few players in our squad that can make things happen, Wayne Rooney, Aaron Lennon, people like that.
"Joe is technically very good and has a good work rate too. He also has so much desire. It's a really good mix."
Lampard saw his penalty saved against Japan to follow on from his spot-kick miss against Portsmouth in the FA Cup final.
But he is happy to continue in the role if required by Capello.
"I hope I am still the penalty taker," he said.
"I never declare myself as the penalty taker. It is always the manager who decides. If he asks me to take them, I am always confident of taking them."
Lampard had sympathy with Capello over deciding who to axe from his initial squad of 30 on Tuesday before the squad flew to South Africa.
He said: "I'd hate to be the manager having to make the decision on the squad. The lads have been together for some time now.
"We know it's the rules and it would not have been easy for the manager. It's unfortunate for the seven who aren't going."
Capello has hinted David James could be in goal for the start of the World Cup by handing him the number one shirt with Robert Green wearing 12 and Joe Hart 23.
Peter Crouch will be wearing number nine as opposed to Emile Heskey who played a major part in England qualifying for the finals.