Champions League elimination seems imminent with Juventus 3-0 winners in the first leg but Lennon is determined to relish the trip.
"We haven't had Champions League football for four or five years," the Parkhead boss said.
"Barcelona, Benfica... to have those nights back at Celtic Park has been truly memorable for me. And going up against the best teams in the world, the best coaches in the world, has been a fantastic experience for a group of players who are relatively young in their careers and who haven't cost a lot of money.
"They have excelled, absolutely excelled, and they have done the club and Scotland proud.
"They have one more crack at it so if we do go out, we want to go out on our shield."
Lennon concedes qualification will require a "minor miracle" but has urged his players to enjoy the experience.
"It would be a tall order to win the tie 4-0 or 4-1, but we are capable of winning the game and that's what we would like to do," he added.
"If we win it would equal the club record (of wins in Europe in a season).
"It is a fantastic game to play in. We may not be here again as a group; you are playing the champions of Italy who are a very good team so enjoy it.
"Enjoy the stadium, enjoy the atmosphere, don't be intimidated. Go and play. The pressure is really off so try to restore some respectability in the tie, play your football and win the game."
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