The centre made his return from a lengthy injury lay-off on Sunday when he played 69 minutes of Leicester Tigers' Premiership clash with Newcastle Falcons.
And a late yellow card for a deliberate knock-on failed to spoil what was a promising return to the fold in his first taste of action since September.
Tuilagi will now join England's training camp this week and insists he is ready to run out with the Red Rose on his chest should he be needed - although Lancaster has opted for Billy Twelvetrees and Luther Burrell as his centre partnership so far this RBS 6 Nations.
"I felt pretty good out there after all the training I have been doing and I've worked hard to get myself back to this point," Tuilagi said.
"I'll be going down to training with the England boys and we'll take it from there. The boys are doing really well and it'll be really good for me to just go down there and get settled back in there and take things from there.
"I spoke to Stuart last weekend and he said to come down after the game and train and we'll see how it goes. I knew that in the first game back I was bound to be nervous, but I just wanted that ball and I was happy with the first tackle and impact.
"If Stuart asks me if I'm ready to play I'll say 'absolutely'. Of course, I would be nervous but I always like to be nervous before a game, it keeps me on my toes.
"I feel I've knocked the rust off my game. I would have liked to play the whole game and felt I could have."