The Reds' captain slipped to allow Demba Ba in on goal to open the scoring at Anfield on Sunday as a weakened Chelsea ended their opponents' 11-game winning streak
Jose Mourinho masterminded a 2-0 win over the Merseysiders, with Gerrard's mistake releasing Demba Ba before Willian struck in second half stoppage time to seal the victory.
Gerrard appeared desperate to personally make amends for his mistake in the second half, shooting from distance on a number of occasions without ever seriously testing Mark Schwarzer.
When asked if he felt sorry for his England colleague, Lampard told Sky Sports: "Of course, without a doubt. It can happen to any player.
"Stevie's a top, top player. Whether Liverpool go on to win the league or not, I don't think it takes anything off the player he is. He's been driving them all season so what can you say? It's just not a nice moment."