What Kevin said, then just show up! Go to the registration table first and register, then get your car inspected (there is usually a big tech line), then walk the track a few times to try and memorise it.
If you want to drive in the morning, show up around 7:30, you will be done by about 12 - 12:30. If you want to drive in the afternoon, show up around 11 - 11:30, you will be done by 4:30 - 5:00.
You can also drive both morning and afternoon.
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