The actor finished work as Frank Foster last Friday (February 3) and his final scenes in the role will air in March, when the character will finally get his comeuppance.
Speaking on Lorraine, Lancel revealed that he felt fine on his last day - but was moved when Roache (Ken Barlow) gave him some words of support.
Lancel explained: "I finished last Friday, and there was so much love in that place. I'm going to miss Ali [King] and Gwen [Taylor] so much - we worked so intimately together.
"[On the last day], I was alright, I was very calm and got lots of lovely presents. Bill Roache took me aside and said some lovely things. He's been in that show for 50 years, and you don't get away with 50 years. He's there because he's brilliant, and he sees the good in everyone.
"He's an inspiration as a man and as an actor. I was alright until he said nice things!"
However, Lancel noted: "It doesn't feel like leaving, because I was never staying. It was always book-ended and finite. I'm very sad to leave those cobbles and very sad to leave those people, because it has been a joy - every single day."
The 41-year-old also hinted that multiple endings may be filmed for Frank's upcoming murder storyline.
He said: "We genuinely did film two different outcomes [for the trial], and now there's different outcomes for what happens next - with what happens to Frank. People are guessing already about what's going to happen to him."
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> Coronation Street Andrew Lancel backs Frank Foster plot conclusion
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Watch a preview of tonight's Coronation Street double bill in the video below: