The Premier League outfit were beaten 3-1 by the League Two club in the first leg of the Capital One Cup semi-final and Lambert wants a completely different showing at Villa Park on January 22, especially after poor defending inside the area.
"We are really disappointed we have lost the game. We're in one now, that's for sure," he said.
"We knew the set-pieces were coming, we have not defended them well at all. It's hurt us and wasn't good enough.
"We had a lot of the game but their set-pieces.. We have another chance to retrieve this. We will have to see what happens in a fortnight's time.
"We will be at home and we know what we have to do. We have to play a lot better than that."