Tunisia play against the Three Lions in the Group G fixture.
England will line up with a back five with an emphasis on passing out from defence while utilising the speed of their attacking players and finishing prowess of Harry Kane.
Justice was done in the end, but these were glaring errors.
Harry Kane's stoppage-time victor ensured England started their World Cup campaign with victory after Tunisia threatened to snatch a point in Volgograd.
In the first half, amid some heavy traffic, Kane was dragged crudely to the ground by Sassi and suffered similar treatment after the break, only for the incident to be ignored once again by Roldan and his assistants.
"You go until the last second", Kane said, "and I'm absolutely buzzing".
England can now move on to face Panama in Nizhny Novgorod with confidence and momentum.
Tunisia levelled through Ferjani Sassi in the first half before Kane scored a late victor in the 91st minute to give Gareth Southgate's men their first World Cup victory.
The squad, dominated by local based players, doesn't include influential midfielder Youssef Msakni and the Tunisian league's top scorer Taha Yassine Khenissi, who have both been forced out by injuries.
Despite it all, Kane remained patient and delivered in the first minute of stoppage time.
Lukaku added a second on a breakaway minutes later, chipping Panama goalkeeper Jaime Penedo as he left his net.
However, Tunisia have never progressed through a group stage at a World Cup in four previous appearances. Germany enters the tournament as the defending champion after winning the 2014 FIFA World Cup in Brazil. The Central Americans played their style - physical, aggressive, sometimes looking more like wrestling than soccer - and managed to hang with the Red Devils for more than an hour.
England don't boast of big names this time but there is a sense of bonhomie among the players and in Southgate they have a coach who understands them. Their voices rose with every Panama attack and the singing and dancing nearly never stopped. They would have just preferred something a little less challenging than one of the pre-tournament favorites.
Southgate broke from his own tradition in revealing his starting line-up to his players on Saturday - and revealed the reasoning behind his decision when meeting the media in Volgograd.
Sweden captain Andreas Granqvist converted from the spot, sliding his shot into the bottom right corner in the 65th minute.
The North Africans are back at a World Cup for the first time since 2006 after qualifying automatically from their section that included DR Congo, Libya and Guinea.
Referee Joel Aguilar used the replay technology to decide whether South Korea substitute Kim Min-woo had fouled Viktor Claesson in the area after initially waving play on.
Before the penalty, Sweden controlled the game and showed most of the attacking intent.
South Korea missed on its opportunity to tie in front of the goal when Hwang Hee-chan's header sailed wide.