The German said this while refuting any claim of a fuse between him and the England international.
Rangnick also said he would have gladly let Lingard leave the club for either Everton or Newcastle if not for the suspension of Mason Greenwood, who is being investigated for alleged rape.
The former RB Leipzig manager had said that Lingard asked for time off to clear his headspace but the player came out swiftly to refute the comment before their FA Cup defeat to Middlesbrough last weekend.
Lingard later claimed he had wanted to play and it was United who instructed him not to, but the German gaffer insisted there are no issues between himself and the 29-year-old.
“With regards to Jesse, I have a very good relationship with him, he knows I would have been willing to let him go at least until the issue with Mason [Greenwood] came up, he mentioned some personal issues.
“We have to look forward now, there are no problems whatsoever between myself and Jesse and vice versa. I’m very happy to have him in the squad and he’ll be in the squad for tomorrow night’s game,” Rangnick told the press on Monday.