Inter secured a 1-0 victory on the night, having already been two goals to the good from the first leg last week.
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Lukaku assisted captain and striker partner Lautaro Martinez, who fired home on the night to secure his side's place in Istanbul.
The Belgium international later delivered a long post match interview with CBS Sports, alongside former coach Thierry Henry, Jamie Carragher and Richards.
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Former Everton and Manchester United striker Lukaku is impressively multilingual, speaking seven different languages.
At pitchside, Richards, who had a brief spell with Fiorentina, tried to show off to Lukaku, who spoke to him in Italian.
The former England right-back then replied: "Scusi?", before all pundit broke out into laughter.
Lukaku then replied: "You need to come back Italy more over the summer, man."
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There was more drama, however, during the program as presenter Kate Abdo mistakenly said Fox Sports instead of CBS whilst on set.
She said: "Your Fox Sports - not Fox Sports - we're on CBS, I apologise."
Abdo was forced to apologise after forgetting the broadcaster she works for live on air.
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Upon realising her mistake, Richards and Carragher burst into laughter, while Henry turned around in shock as he began to walk off the set in disbelief.
Carragher then slumped to the floor in stitches, before popping over the table to quip: "We're all going to get sacked! Is there any jobs going on Fox?"