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If you're going to wait to do it with your friends you'll never be doing a track day. Like you said, you're going to have to pack up your bike and gear and just head to the track solo, but don't be intimidated. Every single one there at one time or another was in the same boat as you are, plenty of people on hand to give you a hand. Every org has an introduction for new riders to get acquainted with track day riding and at the end of the first day you'll have 5-10 new friends and you'll be stuck with a new expensive addiction.