The 2006 World Cup-winning boss says that he encountered no problem whatsoever with the veteran Italian attacker when they worked together in the national team
Totti recently voiced his concern over his omission from the team in recent matches by Luis Enrique, with Baldini having reportedly expressed his unhappiness with the 34-year-old's work ethic.
There are suggestions in the Italian media that the relationship among the concerned parties are cold, and Roma's director Walter Sabatini himself has acknowledged that the current situation needs to be resolved before the start of the 2011-12 Serie A campaign at the weekend.
Lippi has now given his take on the matter and says that from his "personal experience" when the duo worked together during Italy's 2006 World Cup triumph in Germany, he found Totti to be a mature and understanding footballer.
“I speak based on my personal experience," the 63-year-old told Il Messaggero. "It is a different experience to those working at club level but just as intense and long if you consider the preparations ahead of and during the World Cup in Germany.
"He has always been an amazing guy, humble both in dealing with the coaches and his team-mates. There was never a misunderstanding [between us].
"Whether I put him on the bench or brought him on for just half an hour, he always calmly accepted my decisions."
Roma, who have heavily reinforced their squad in the summer, recruiting the likes of Maarten Stekelenburg, Gabriel Heinze, Erik Lamela, Miralem Pjanic and Bojan Krkic, take on Cagliari at the Stadio Olimpico on Sunday afternoon.