The Saints, relegated and docked 10 points, have drawn two of their four matches and Brentford deserved their share of the spoils at St Mary's after Cleveland Taylor cancelled out Dan Harding's opener.
"The discipline we are trying to instil is beginning to bear fruit. The young players have been used to passing the ball around but at this level it requires other qualities," said Pardew.
"I was disappointed with the service we gave Lambert, who showed how dangerous he can be when he got the opportunity and I thought overall we showed signs of improvement.
"We looked more competitive with Dean Hammond in the middle of the field and I am sure we will improve from here.
"I am only sorry for another big crowd that we could not provide them with the win they so desperately wanted."