The Liverpool man was robbed of the chance to play in the 2002 World Cup because of a groin problem, while the 2006 tournament in Germany saw England knocked out at the quarter-final stage.
The 29-year-old knows that maximum points from England's next two games in Kazakhstan on Saturday and against Andorra at Wembley on Wednesday would all-but guarantee their safe passage to South Africa.
The midfielder agrees that England should comfortably win both games but did warn that supposedly inferior sides had become very well organised and subsequently hard to break down.
"Will this be the last chance to qualify for a World Cup? I would say so," he said. "I'll be 30 when the finals come around.
"For me, it will be the last chance of doing well at a World Cup. Maybe by the time of the next one I might not be in my prime. That is the big motivation for me.
"We've now got these two important qualifiers coming up and if we want to play in the finals, we've got to get two good results.
"When we met up with the manager he said basically he wants the two wins to put us in the driving seat in the group. If we win these two games, we may possibly only need three more points.
Should win"Of course we know it will be warm in Kazakhstan and any international away from home is very difficult but there will be no excuses on our part.
"We should win these two games comfortably and put ourselves on the brink of going through.
"But these teams can be very organised and difficult to beat and everyone wants to beat England."
Although asked by manager Fabio Capello to play on the left in recent games, Gerrard reveals that the Italian wants him to link up with frontman Wayne Rooney in a role not too different to the one he occupies at Liverpool with Fernando Torres.
"The manager has put me there but with strict orders to interchange with Wayne," he added.
"He wants me to pick up dangerous positions in a central area and not just on the left. I think he understands I'm not a left winger.
"He sees the relationship with Wayne improving. We get on very well on and off the pitch and I think that partnership can certainly improve going forward."