The Tangerines fought back to earn a late point in last weekend's 2-2 draw with Hibs after looking down and out with just minutes remaining.
But they defied the odds to level through Brian Graham's last-minute equaliser and McNamara believes they can use that as a catalyst ahead of this weekend's trip north to face Caley Thistle.
McNamara said: "It would be ideal if we could start as we finished against Hibs and take the game to them.
"We showed good battling qualities against Hibs and in any game you would like to get on the front foot.
"That's what we hope to do and try to do the things we know we're good at.
"We did well to get the game back against Hibs but it's never ideal when you have to chase things.
"We know this will be a tough game against Inverness but it's one we're relishing for all the right reasons.
"They will want to try and get the ball down to play like ourselves so we will have to take our chances when they come our way."
United stopped a three-game losing streak by drawing with Hibs but McNamara was never worried about their recent dip in form and had told his players to go and express themselves in the Highlands.
He said: "It was just one of those things.
"Results went against us for a spell and that was highlighted because of what we had done before.
"But the last thing we wanted to do was become uptight which there were signs of during the Hibs game.
"We're at our best when we are enjoying our football and that's what I'll be telling the players.
"They know I will always encourage them to play football at all times.
"That's what we're good and that's what we work on in training.
"We try and take that into games and Inverness will be no different."
United will add on-loan Brentford striker Farid El Alagui to the squad and he is in line to make his debut after signing until the end of the season.
But Nadir Ciftci (groin) is struggling to make it while defender Mark Wilson is out for two weeks with a stomach muscle strain.
Gavin Gunning is fighting to shake off a leg knock in time to play.
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