Andrea Pirlo's delightful ball over the top to RJ Allen was knocked into the path of Lampard who picked his spot with a dipping effort after controlling with his knees.
The 37-year-old immediately lifted his hands in celebration at breaking his drought for NYCFC in his fifth appearance since joining the MLS expansion franchise.
NYC doubled their lead in the 77th minute through Patrick Mullins from a Pirlo assist to help them clinch an eighth win of the 2015 season, lifting them to 8th position on the Eastern Conference table.
Check out Lampard's goal below:
Welcome Frank Lampard. #NYCvTORhttps://t.co/X9RdM8I2BC
— Major League Soccer (@MLS) September 17, 2015