There are two things you have to impose on $\lambda$ in order to apply the Banach fixed point theorem (and the unique fixed point of $f$ that the theorem guarantees is the unique zero of $F$),
1. you must choose $\lambda$ so that there is a $c < 1$ with $$\left\lvert1 - \lambda\frac{F(x)-F(y)}{x-y} \right\rvert \leqslant c$$ for all $x\
eq y\in[a,b]$, and
2. you must choose $\lambda$ so that $f([a,b]) \subset [a,b]$.
By the mean value theorem, the difference quotient is a value of the derivative, so the given bounds of $F'$ yield
$$1 - \lambda K_2 \leqslant 1 - \lambda \frac{F(x)-F(y)}{x-y} \leqslant 1 - \lambda K_1$$
for $\lambda \geqslant 0$. Thus choosing $0 < \lambda < \frac{2}{K_2}$ will satisfy the first requirement. It remains to show that for all sufficiently small $\lambda > 0$ you have
$$a \leqslant x - \lambda F(x) \leqslant b$$
for all $x\in [a,b]$.