The Brazilian scored a first-half header to secure a 1-0 victory for the Reds at Home Park and set up an Anfield meeting with Wolves when the world's oldest cup competition resumes later this month.
As was the case for the initial staging of this fixture on Merseyside, Jürgen Klopp named a youthful starting XI to take on Derek Adams' team.
This time, however, they saw off the Pilgrims with the help of their oldest teammate - an experience that Lucas believes will prove worthwhile.
"It was a difficult night; we expected that. They are a strong team, a physical team, and we had a lot of young players," he told Liverpoolfc.