Just sticking this here in case someone else has run in to an issue.
1. In Windows 7, bring up the Run app via Control+R or from the start menu, just type Run in search box.
2. Use the IP Address of you Lion server in Run (my internal IP used as an example):
3. It will then ask for your login credentials.
4. It should bring up the available sharepoints within Lion Server.
5. Right-click and you can map the sharepoints as Network Drives or double-click to browse.