Lambert preferred to start with Gabriel Agbonlahor and Christian Benteke in attack for the derby match at Villa Park but turned to Bent as his team searched for an equaliser in the second half.
The former Norwich City boss claimed that the England international had not taken issue with being left out of the starting line-up having already lost the club captaincy to Ron Vlaar.
"No, he was great," Lambert told reporters. "There was no problem. I just named the team and that's the team I picked."
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"It was a world-class substitution," he joked. "I need everyone, it's a collective thing, I never look at individuals. The goal was brilliant, it was a world-class finish.
"He was fine at full-time. I spoke to him in the dressing room as well. He was totally fine, totally, no problem, none."
"Everyone is as important as anyone else. I explained the captaincy thing was to do what he did there - to score. That's the only reason I did it.
"I need everyone. If we can keep the collective thing and have the crowd with us, we'll be fine."