The Romans absorbed Chariot Racing from the Etruscans and quite possibly from the Greeks in southern Italy. Those two ethnic groups are known to have had chariot races and it was the first Tarquin
king of Rome (who was said to be Etruscan although this is being questioned) established the outline for the Circus Maximus.
Where/when the races actually began before the Romans participated is shrouded in time.
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To start Roman chariot races, a soldier would lash a whip against a slab of granite to make a loud, resonating "crack" around the stadium, signaling the start of the race.
The name of the building or arena where the Roman chariot races were held was the Circus Maximus in Rome and the Hippodrome in Byzantium/Constantinople.
the type they raced with
In Rome the chariot races were held mainly in the Circus Maximus. There was also the Circus Flaminius for races. A clue is the word "circus", which means racecourse. Any Roman structure with the word "circus" in its name, would be a racecourse.
The Coliseum is pretty much proof itself that games and races were held. The are also many ancient documentions that account for chariot races firsthand.
Chariot Races were held at the circus, which was the race track. Thecityof Rome had the Circus Maximus, the Circus Flaminius and the Circus Maxentius.