The star recently visited MSPs at the Scottish Parliament to show them a 30-minute film of her first trip to Malawi.
She travelled to Malawi with her daughter Lola and said her younger daughter Tali, 17, wants to go next time.
Lennox told UK newspaper the Daily Record: 'My younger daughter who didn't come on the trip and is living a very privileged life called me up and said: 'Next time I want to come with you. I want to see these things.'
'I don't believe in pushing them or guilt tripping them. Time will tell. They have good values and are grounded girls despite all the privileges they have benefited from.
'I don't want to ram it down their throats. They see me coming in and say: 'Oh, my God. She's at it again. Mum's off saving the world.''