Michy Batshuayi scored an eighth minute opener to the delight of the new boss.
But late on the Irish side were back on terms as Eric Molloy, a triallist, scored the equaliser.
Lampard handed game-time to several youngsters as well as a number of players who seemed to be on the way out including Bathauyi and Danny Drinkwater.
And while Batshuayi impressed, it was Billy Gilmour who caught the eye as well as Kurt Zouma at the back.
Ethan Ampadu also put in a solid shift but Lampard will know he has plenty of work to do.
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A number of teenagers started the match Dujon Sterling (18) and Marc Guehi (18) joined midfielders Kasey Palmer (22) Conor Gallagher (19) and Ethan Ampadu (18) in starting the match.
With them were captain Cesar Azpiliueta, reserve keeper Willy Caballero and three players all handed a clean slate by Lampard after being frozen out by his predecessors – Kenedy, Danny Drinkwater and Michy Batshuayi.
Kenedy had been axed from Chelsea’s pre-season tour of Asia two year ago because of disparaging remarks about the Chinese.
Drinkwater, exiled under Maurizio Sarri and Antonio Conte, has had just five Premier League starts since signing for Chelsea in 2017.
It was Batshuayi, on the fringes under Conte and farmed out on loan by Sarri, who hit the first goal of the Lampard era after just eight minutes here in Dublin, lashing the ball home from close range after Kenedy’s shot was blocked in the box.
He’ll be hoping there is more where that came from. And that Lampard will give him the chance to provide it.
In the second half came another mix of young and old, including Manchester United and Arsenal target Tiemoue Bakayoko and Everton target Kurt Zouma.
All were fighting for a place in Lampard’s plans. It will be interesting to see whether they succeed.
Chelsea player ratings
Cabellero 6 (Cumming 45, 6)
Sterling 6 (Zappacosta 45, 6)
Azpilicueta 6 (Chabolah 45, 6)
Guehi 6 (Zouma 45, 7)
Kenedy 6 (Maatsen 45, 6)
Ampadu 7 (Baker 45, 7)
Drinkwater 6(Bakayoko 45, 6)
Gallagher 6(Brown 45, 6)
Palmer 6(Gilmour 45, 7)
Pedro 6 (Piazon 45, 6)
Batshuayi 7 (Ugbo 45, 6)