Chelsea took the lead when 20-year-old midfielder Mason Mount scored a memorable first goal for the Blues after robbing Ndidi of possession just outside the Foxes penalty area before beating Kasper Schmeichel with a low drive.
Lampard’s side started with real intent, Spain forward Pedro volleying into the side-netting and France midfielder N’Golo Kante denied a goal against his former club by Christian Fuchs’ fine challenge either side of Mount’s goal.
Leicester were much better after half-time and secured the point their second-half dominance warranted when Ndidi got between Spain right-back Cesar Azpilicueta and France defender Kurt Zouma to head in from a corner.
Both teams remain without a win, with Leicester on two points from two games, one more than Chelsea.
“It felt great, it is a special moment for me to come back to the club and manage them at Stamford Bridge,” said Lampard, who was appointed Blues boss in the summer.
“For me it is a huge thing, but my focus today was on the match and trying to win.
“Thanks very much to the fans, I appreciate that, but I am here to do a job and here to try and win for the club and we can do better than we did today.”
Blues fade again on Lampard’s homecoming
Despite opening the season with their biggest Old Trafford defeat against Manchester United since 1965, there was a carnival atmosphere inside Stamford Bridge to welcome a Chelsea icon returning to manage the club he spent 13 years playing for.
Lampard’s image adorned the front cover of the programme, while the 41-year-old was greeted by the sight of a huge blue-and-white ‘Welcome Home Super Frank’ banner when he emerged from the tunnel before kick-off.