As @Analyst pointed out the inclusion of lagged dependent variables excludes one source of regression error autocorrelation. The autocorrelation can still be present if the lags of dependent variables are included. Here is the mathematical illustration. Suppose the true model is the following
$$Y_t=\alpha+\beta_0X_t+\beta_1X_{t-1}+u_t,$$
where $Eu_t|(u_{t-1},...,X_t,X_{t-1})=0$, meaning that $u_t$ is not autocorrelated and it does not correlated with the regressors. Suppose you are estimating the model
$$Y_t=\alpha+\beta_0X_t+v_t$$
then
$$EX_tv_t=EX_tu_t+\beta_1EX_tX_{t-1}$$
Now if $EX_tX_{t-1}\neq 0$ then you have the ommited variables problem and the autocorellation is the least of your worries, since the OLS estimates in this case are inconsistent. Now if $X_t$ is not autocorrelated then $EX_tv_t=0$ and OLS estimates are consistent and asymptotically normal (if $Eu_t^2<\infty$ and $EX_t^2<\infty$).
But
\begin{align*}
Ev_tv_{t-1}&=E(u_t+\beta_1X_{t-1})(u_{t-1}+\beta_1X_{t-2})\\
&=Eu_tu_{t-1}+\beta_1Eu_{t-1}X_{t-1}+\beta_1Eu_tX_{t-2}+\beta_1EX_{t-1}X_{t-2}\\
&=\beta_1Eu_tX_{t-2}
\end{align*}
and this might be non zero giving the autocorrelation problem.
So to sum up the claim in the citation is not entirely correct. If lags are omitted this can lead to omitted variable bias and that is the first reason to include them.
http://en.wikipedia.org/wiki/Omitted-variable_bias
in that page, "If the independent variable z is omitted from the regression, then the estimated values of the response parameters of the other independent variables will be given by, by the usual least squares calculation, [Insert Equation]"
The equation is supposedly for when Z is ommitted, could you tell me what the new equation will be if Z were not ommitted?
– Siddharth Gopi Oct 07 '13 at 13:52