The 22-years-old Dutch-born midfielder got off the mark for his club in a 1-1 draw in the Eredivisie
The 22-year-old was started in the midfield by coach Jan Wouters and successfully netted after his low shot in the far corner could not be stopped by PSV goalkeeper Andreas Isaksson.
"It was a very pleasant moment. I tried to kick the ball once but missed it on the first attempt, then I got another chance through [Edouard] Duplan; I shot it to the far corner and goal!" he told the official club website.
Lilipaly was also named man of the match, and he is confident he can build on that performance.
"I was 10 years in youth team. This is my time to prove and I can handle it," he said.
Wouters was pleased with his charge's performance.
"Lilipaly has developed very well, grown through the youth team; he has shown his quality to us in this game," he noted.
"Lilipaly has proven that he can endure the 90 minutes."