England meet Germany for the first time since their World Cup elimination three years ago.
Gerrard admits the 4-1 loss was one of the worst moments of his career, but he thinks England are in a much better shape to face their old enemy this time around.
"I'd say we are better now," the England captain said.
"We are a lot stronger. If we were to meet Germany tomorrow in a World Cup I don't think we'd leave the pitch having been beaten 4-1. There is a good mix of youth and experience in the squad at the moment. We are all moving forward and improving all the time.
"If you look at how they've performed in recent tournaments and where they're ranked, then maybe we are slight underdogs. But if you look at both squads and both starting XIs on Tuesday night I wouldn't say we're huge underdogs, no. Maybe slight."
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