"I have good memories from our last two victories over United, especially when we beat them 4-1," Lucas told Liverpoolfc.tv.
"I remember Xabi Alonso was out and we went into that game with a lot of confidence having beaten Real Madrid in the Champions League.
"We went to Old Trafford with a lot of confidence and we played really well on the day. That is one of my favourite moments so far at Liverpool."
The performance was made even more memorable because Liverpool had come back from a goal down after Cristiano Ronaldo had opened the scoring from the penalty spot.
"It was a really good comeback. We needed to win the game to stay in the title race and I remember Fernando scored a fantastic goal. We had confidence from that and Stevie then scored a penalty, and from that moment we knew we could win.
"Fabio scored a nice goal from a free-kick and Dossena added the fourth goal. It was a really good feeling to be a part of that game and we hope to win again on Sunday."
Torres has scored in his last two meetings against United, and having hit four goals in two games this week, Lucas is backing the No.9 to be a real thorn in Ferguson's side once again.
"Fernando can cause problems for any defender," he added.
"He is powerful, scores lots of goals and he makes things happen. We hope he can help us again on Sunday.
"We know they are a good side who are in excellent form at the moment. They have some really good players but we are playing well and we will go to Old Trafford with a positive mentality.
"We know how crucial this game is for us because it is really important in the race for the top-four.
"We deservedly beat them 2-0 in October and that shows we have the quality to beat them."
Lucas was speaking on behalf of Thomas Cook Sport, official travel partner of Liverpool FC. For more information about match breaks and World Cup packages, visit www.thomascooksport.com or call 0208 739 2360.