Lancaster, 44, was Chester's PE teacher when he was a pupil at Kettlethorpe High School, in Wakefield.
Having taken on the coaching duties at the Robins replacing Craig Sandercock, the 35-year-old received a text message from Lancaster wishing him the best of luck.
And Chester is grateful to have someone of Lancaster's calibre to call on if he needs any advice.
"I had a nice text from Stuart shortly after I got the job," he told the Mail.
"He told me to stick to what I believe and stick to my philosophies and if I do that, then I should do well.
"I met him before Christmas and he knew I wanted to be a head coach.
"I picked his brains on a few things about man-management and things like that.
"He certainly helped me a hell of a lot and gave me plenty to think about."
As well as a good luck message from the England rugby union coach, Chester has received a number of supportive messages from throughout Super League.
Wigan coach Shaun Wane offered his congratulations, whilst Nathan Brown, who saw his St Helens side hammered 40-10 in Chester's first game, also wished him well.
And there were messages of support from cross-city rivals Hull FC, having spent five successful seasons playing at the KC Stadium.
"I've had texts off Lee Radford and Andy Last," Chester said.
"We've kept in close contact over the years and they wished me the best of luck.
"I've had some great support including some messages from Super League coaches like Nathan and Shaun.
"It's great I've got these friends in the game and they've shown me their support."
Having brought smiles to the faces of everyone at the club with a stunning win over the league leaders, Chester is aware there will be plenty more hard work ahead.
He insists there is plenty of ability in the KR camp, if he can make the players believe in themselves as much as he does.
"The boys were feeling a bit down before Sunday's game and it was my job to try and lift them," he added.
"I wanted to get across how much I believed in them and they should believe in themselves.
"I hope they now believe how good they are because they turned over the team top of the league.
"We didn't just beat them, we beat them convincingly.
"Our biggest challenge now is to back that up and be consistent.
"We've not been that this season and we've got to change that."
