The pair clashed at Anfield during Liverpool’s 5-3 victory over Chelsea in July, with Lampard telling Klopp and his assistant, Pep Lijnders, to ‘f*** off’ following an argument over a foul in the build-up to Trent Alexander-Arnold’s free-kick.
Lampard has revealed that he was made aware of the video after being sent the footage by a friend.
And the Chelsea manager concedes that he should be setting a better example for Chelsea supporters and his own daughters.
When asked if he had any regrets over the confrontation on The High Performance Podcast with Jake Humphrey and Professor Damian Hughes, Lampard replied: ‘Yeah, I did regret that.
‘And when that broke the next day – I clearly felt it as I was doing it – but when it broke the next day and a friend of mine sent it to me in the morning, I was a bit embarrassed by it.
‘Because I was in the moment, but in the moment, I felt we turned up and it was the easiest day for Liverpool ever.
‘They won the league, they went goals up early in the game. And a few things happened with the bench, I’m not going to go into detail, but my feeling was, I want to protect my club.
‘And I didn’t have a problem with Liverpool celebrating. Luckily enough, I’ve been there. I’ve been with Chelsea where we won the league quite early one year, and you can sit there and everything feels great.
‘But also I care about my job, and it came out in the wrong way.
‘And even I explained that to my daughters when I got home. And I’ll be brutally honest, it’s not the first time that they’ve heard it from me in the wrong moment.
‘So I do try and practice what I preach, but I suppose in adult life, it doesn’t always work that way.
‘But yeah, I was – and not just my own daughters, because you’ve got millions of Chelsea fans around the world, whether you’re young or old, it’s not the way I like to carry myself.
‘But in talking about high level sport, you can’t take passion out of the game. And it just came out of me in one little swoop there.’