Kumar took 4-46 in the hosts' first innings as they reached 219/6 at stumps on day two in reply to India's 295 all out.
"I am enjoying bowling in England. It is definitely a good feeling to do well at Lord's," Kumar said about his incisive spells.
"I have been watching Test cricket at this ground since I was a child and this is something I have been looking forward to for a long time."
"We learnt from the English bowling on day one and we saw that they bowled too short at times. So we watched and learnt what lengths to bowl and adjusted out bowling accordingly."
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The Indian bowling didn't allow the English batsmen to settle down at any stage during the day's play and at one stage they were reduced to 113/4 before Gary Ballance's second Test century -- and a second one at Lord's in two matches here - saved the day for them.
The medium pacer hailing from Uttar Pradesh considers Praveen Kumar his personal hero. His team-mate had been the star bowler for India on the ill-fated 2011 tour.
"I have learnt a lot from Praveen Kumar. I have bowled with him earlier and I even had a chat with him before coming here.