That is according to the former winger, who has revealed that Gerrard got the ball rolling on the transfer in the middle of a game.
Pennant had made a name for himself as one of the most exciting wingers in the Premier League.
After being signed by Arsenal as a teenager, he was forced to rebuild his career in the Midlands after a lack of opportunities resulted in a series of loan moves.
But his flashes of excellence and trickery caught the eye of Liverpool boss Rafael Benitez.
During the 2005/06 season when the Blues were relegated, Pennant has revealed how Gerrard tapped him up.
“Is it true Steven Gerrard tapped you up to sign for Liverpool while you were playing in a game against him?” he was asked by FourFourTwo.
“Yes, that’s absolutely true,” Pennant said.
“I was playing for Birmingham against Liverpool at St Andrew’s and Gerrard said to me, ‘Who is your agent?’ while the game was going on.
“I said, ‘Sky Andrew – do you know him?’
“He said, ‘No, but I’ll find out.’
“I was trying to focus on the game! Straight after the game, I told Sky about it.
“Obviously a move to Liverpool eventually came about.”
Gerrard revealed in his book ‘My Story’ that he was often asked by the club to help persuade players to come to Anfield.
The Reds did not decide to extend Pennant’s contract in 2009 meaning he was free to leave the club.
He decided on a move to Spain with Real Zaragoza, where he failed to score a goal in 25 appearances.
The 35-year-old has now retired after further spells with Stoke City, Wolves, Pune City, Wigan Athletic, Tampines Rovers, Bury and Billericay.