Lambert clashed with City chief Mancini when the teams met in the Capital One Cup in September following a tackle from Villa’s Joe Bennett on Gareth Barry.
Afterwards, Mancini said: “There are some managers it is better to shut up. I’m tired of this manager.”
But Lambert insisted: “I’m there to defend my team. Sometimes you get caught up in things and you think afterwards you’ve been stupid.
“It’s no problem. I’ll shake hands before and after like I always do. I’m sure he’ll shake hands. I respect him and I don’t have a problem.”