Molecular self-assembly has attracted much attention as a method to create novel supramolecular architectures. The scaffolded DNA origami method has enabled the construction of almost arbitrarily shaped DNA nanostructures, which can be further used as components of higher-order architectures. Here, we describe a method to construct and visualize two-dimensional (2D) lattices self-assembled from DNA origami tiles on lipid bilayer membranes. The weak adsorption of DNA origami tiles onto the mica-supported lipid bilayer allows their lateral diffusion along the surface, facilitating interactions among the tiles to assemble and form large 2D lattices. Depending on the design (i.e., shape, size, and interactions with each other) of DNA origami tiles, a variety of 2D lattices made of DNA are constructed.