The England interim head coach has spent the week drilling his young charges on the importance of representing the county and was delighted with the passion his side showed to claim their first win at Murrayfield since 2004.
"We talked in the buildup about establishing a new culture and the attitude we showed in defence showed that," said Lancaster who took over from Martin Johnson following England's disastrous World Cup quarter-final exit.
"This was the first step on the journey we are taking. We did not get everything right and we struggled to keep possession to get continuity in attack, but that was all about the players doing it for the shirt and each other.
"It is what teams are built on, spirit, and they showed a tremendous amount of spirit and courage to play for each other and play for England.
"We won in a very difficult place and it was a great effort by everyone."
England's starting XV began with a total of 233 international caps between them compared with Scotland's 499.
The inexperience of the side was highlighted by Owen Farrell, who at just 20, came into the team with only one season of Premiership rugby under his belt.
But the young Saracens centre held his nerve against a hostile crowd to kick the eight points which proved the difference, and Lancaster said that the ability of Farrell, son of England coach Andy, to handle the big stage was never in doubt.
"He's got a good temperament," Lancaster said.
"That ability to step up and perform on the big stage - he was nervous before the game and nerveless in it.
"He's a great kid and sitting next to his dad was an interesting experience.
"A lot was made about the international inexperience of the side but I had every confidence in them.
"We're delighted to get off the mark but it's only step one."