In a flat universe that is dominated by dark energy (or cosmological constant), the Friedmann equation can be written as:
$H^2 = (\frac{\dot a}{a})^2 = \frac{8\pi G\varepsilon_{\Lambda}}{3c^2}$
Where $H$ is the Hubble parameter, $a$ is scale factor, $\dot a$ is scale factor's time derivative, $\varepsilon_\Lambda$ is the energy density of cosmological constant. Currently, our belief is that $\varepsilon_\Lambda$ is a constant, so the right side can be replaced by Hubble constant $H_0$
Rearrange Friedmann equation and integrating each side:
$a(t) = e^{H_0(t-t_0)}$
$t_0$ is the time right now.
From here, my textbook just says that a flat universe containing nothing but a cosmological constant is infinitely old, but I certainly do not see why this is the case, it is because cosmological constant will drive the universe to expand forever?