Villa assistant Terry will be back at the club Lampard spent almost two decades with as a professional, during which time he won 15 major honours.
After leaving the Blues in 2017, Terry spent a season playing for Villa before joining Dean Smith’s coaching staff in 2018.
Terry said it would be “too much” to play against Chelsea for a rival Premier League club upon joining Villa – who were at the time in the Championship – but he will face them as a coach.
“It’s not much different for me, I went up against him twice last year,” former Derby County boss Lampard told a news conference.
“We obviously get on very well and I’ve got huge respect for him and the work he and Dean Smith have done there with Aston Villa.
“So I think it’s more about John, and the reception he’ll quite rightly get from the Chelsea fans – the most decorated captain, the greatest captain who won everything.
“He feels the club, everyone knows that, and I’m sure the fans will certainly show their appreciation.
“I’m sure it will be pretty emotional for John, and he deserves that moment, and I’ll certainly be pleased to see his face back at the Bridge.”
Terry has previously spoken of his desire to follow in the footsteps of Lampard and one day manage his old club.