Depending on how many areas and how big they are, you need to add a layer of lawn dressing in the undulations... "dressing" can be compost or sand or topsoil.
Depending on how many or how large of an area, you can use bagged topsoil or have some delivered or go get a trailer or pick up load from a garden center...
throw a few shovels full in the area you want to build up and rake it out with a steel tine rake... if your undulations have grass growing in them MAKE SURE you leave at least 1/3 of the grass blades sticking out of the top of the fill...
allow the grass to grow through this layer and if you need more top dressing do the same process again a month or two later...
this is for smaller areas and lawns... if it is a large lawn, I would recommend doing the same procedure with a tractor and a box blade...
IT IS VERY LABOR INTENSIVE and to be honest with you, if you can't see it why worry about it? Might be easier to sit in the shade and have a cold one...