First-half goals from James Hanson and Gareth Evans were enough to secure all three points for the Bantams, despite Ashley Grimes netting a penalty for the Imps.
Taylor said: "Victory is nice. It feels better. There were some good things but there were also some hairy things at the end.
"We caused ourselves problems at times. It's a bit of a confidence thing. If we'd been on a good run and the players were in good form we wouldn't have given the ball away so much. But the players worked extremely hard and I've go no complaints there.
"We've got to do the finer things a bit better. The first goal was a bit fortunate for us, but you need a bit of luck and we'll take it."