England's friendly in Brazil on Sunday has been given the go ahead after a duty judge reversed the original decision to suspend the game.
A court order on Thursday suspended the game originally due to safety concerns at the recently renovated Maracana stadium in Rio de Janeiro.
The encounter will be the first between the pair since England beat Brazil 2-1 at Wembley in February of this year thanks to Frank Lampard's winner.
Lampard told the Chelsea official site: "If we can go there and get a result that would be fantastic for the lads' spirit and confidence going into the [World Cup] qualifiers.
"We are trying to keep improving and it is good not to lose a game. We are trying to work on the team and work on our attacking play."
England came from behind to draw 1-1 with Ireland in mid-week, with Lampard scoring the equaliser for the Three Lions.
The Chelsea man earned his 96th international cap in the encounter on Wednesday and is hoping to reach three figures in the coming months.
Lampard added: "You can't not think about it. I am on 96, I have been around for an awful long time.
"If I can get there and can stay involved in future games then I would be a very proud man if I did reach that."
England have not won in Brazil since 1984, when John Barnes scored a wonderful solo goal and Mark Hateley added another to ensure a famous victory.
The match on is scheduled to be the first major international test of the Maracana stadium, with the Confederations Cup beginning two weeks later.
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