After the 2020 Six Nations was postponed in March due to the onset of the Covid-19 pandemic, Wales have had nearly six months out of action.
They will get back out on the field when they face Scotland on Sunday, November 1 in a game which will be played at Cardiff City Stadium.
“It’s obviously been a long and very different summer, but we’ve all kept busy with work and training,” said Lillicrap.
“A lot of graft has gone in so hopefully we’re all in a better place for it. We’ve been in for the last four weeks or so and it’s been really nice to be back in together as a squad.
“It was great for us to have a focus and to make sure our bodies are in a better place after what has been a big 12 months for us. It was a long lockdown, but I don’t think it will have done us any harm as a squad.
“If anything, it has helped us appreciate even more what we have as a squad.
“This squad is like a family and when you’re away from it, it makes you miss it even more.
“Health and safety has to come first, but we’ve had some really good preparation and we’re training at Swansea University. It’s a change of venue which has been nice and fresh.
“The girls are really excited and Darren Edwards has come in as interim head coach. He’s had some fresh ideas and given a fresh pair of eyes.
“He’s a great coach and he’s been hammering some stuff home for us which is great.”
Edwards is in charge of Wales for the Scotland game.
The Wales Sevens men’s head coach has previously worked with Bath, Dragons and Wales Under-20.
He will be assisted by Chris Horsman, Geraint Lewis and Gareth Wyatt in preparing the squad for this match one year out from the next Rugby World Cup in New Zealand.
Wales have a 35-strong squad for the Scotland game which includes one uncapped player in forward Laura Bleehen and the return of Shona Powell-Hughes, Caryl Thomas and back Alecs Donovan.
“We’ve got some unfinished business,” said Lillicrap about the Scotland game.
“Our campaign didn’t go the way we would have wanted it to at the start of the year, but we need to remember the journey we’ve been on and the number of youngsters we’ve had capped in the last year.
“This is a game we want to win and the girls are up for it.
“We want to prove a point and this is the start of our journey to the next World Cup in New Zealand.”