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The Young Lions led 2-0 inside 15 minutes in their European Championship qualifier on Thursday night, only to be outmuscled in the second half and concede two poor goals from set-pieces.
Skipp impressed in the first half and was crucial in creating the opening for the first goal, scored by Conor Gallagher, but faded along with his team-mates in the second.
England are five points adrift in their Euro 2023 qualifying group though they have a game in hand on leaders Czech Republic.
The Tottenham midfielder has called for a reaction and says those with experience in the group must set the example.
"A reaction? Definitely something we need, more like the first half I'd say," said Skipp.
"We know as players, we're always honest, that we weren't at our best in the second half and can't afford to draw games like this. It's our job to make sure we're positive and right for the next game.
"We'll make sure to put in a performance because we can't be going away from this camp with less than four points now. We'll make sure everyone is right and prepared for this game.
"It's the responsibility of boys who have been to finals, the likes of Marc [Guehi], Rhian [Brewster], Curtis [Jones] will be getting round the boys to make sure we're on it in Andorra because we can't afford any more slip-ups."