Your rewards are automatically distributed to your rewards address at the end of every delegation cycle. Each cycle consists of four epochs, and each epoch lasts five days, so it will take 16-20 days to receive the rewards in your Lace wallet. After the initial delegation cycle, the rewards continue after each epoch ends until you redelegate to a new stake pool.
If a single-address wallet has already been delegated, then restored in Lace, the delegation will continue without any changes or action needed. Don’t forget that once your ada is delegated to a stake pool, it will always remain in your wallet, and isn’t locked.