The victory means Poland are guaranteed at least second place in their qualifying group, behind likely winners England, who beat Albania 5:0 on Friday, the state PAP news agency reported.
Group winners qualify for the World Cup finals automatically. As runners-up, Poland are set to play in the two-round, single-match play-offs next March, for a spot in the World Cup finals.
On Friday, their task was made easier as Andorra had a player sent off for a foul inside the first minute.
Captain Robert Lewandowski scored twice, taking his international goals tally to 74, in a record 128th appearance, PAP noted.
Fellow striker Arkadiusz Milik also got on the scoresheet, as he returned to the national team after a 7-month injury absence.
Winger Kamil Jóźwiak netted the other goal for the Polish side, as coach Paulo Sousa also gave a debut to Matty Cash, PAP reported.
Poland host Hungary in Warsaw on Monday, in their final group qualifier.
The World Cup finals will be played in Qatar between November and December, 2022.
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Source: PAP