Lampard spoke to Scolari after England's draw, who spent an unhappy seven months at Chelsea, five years ago.
Lampard said: "Phil Scolari's time at Chelsea was short and I think things were tough for him there. He was an absolute gentleman. He helped me a lot in his time there. I have loads of respect for him. A few of us were very close to him so it was a shame that it didn't work out."