The Manchester City player insists he is fully recovered from the ankle problem suffered in early May against Tottenham which threatened his participation in the finals.
His partnership with Lampard and Gerrard was pivotal in England reaching South Africa in impressive style with nine wins from 10 games in the qualifying group.
Barry said: 'The three of us played the majority of games and I think there was a good understanding.
'Stevie was working from the left but coming centrally and getting forward quite a lot. They both chipped in with their fair share of goals and it really worked well.'
It is a relief to Barry to be involved in his first World Cup finals after being overlooked for 2002 and 2006 by Sven-Goran Eriksson.
Raring to go: Barry (centre) is set to return to the England side on Friday
He admits it was 'touch and go' whether he would recover sufficiently from the ligament damage suffered against Spurs at Eastlands on May 5.
Barry said: 'It has felt like the World Cup was never going to come for me.