Invoke AWS SNS Lambda event only after SQS subscription on same topic has been processed

I would like to implement an Amazon SNS topic which first delivers messages to an SQS queue that is a subscriber on the topic, and then executes a Lambda function that is also a subscriber on the same topic. The Lambda function can then read messages from the SQS queue and process several of them in parallel (hundreds).

My question is whether there is any way to guarantee that messages sent to the SNS topic would first be delivered to the SQS queue, and only then to the Lambda function?

The purpose of this is to scale to a large number of messages without having to execute the Lambda function separately for every single message.