The pair played together at Manchester City.
"He is the man [for Chelsea], not only a great guy but someone who I learned so much from at a stage in my career," Kompany said.
"He was a bit older when he joined Man City and Frank was an incredible professional. What he brought at the time, he stepped the level up for everyone else.
"I know the impact of Frank Lampard on a team and I'm trying to have the same impact when I come as an older player for Anderlecht. He's up there with the most intelligent players so it's a natural match with Chelsea, I completely support him."