A driver wins the pole in Nascar for having the quickest time on qualifying day.
If qualifying is rained out, the driver who is leading the point standings going into that race will start in the first position. But it will not count as a pole award win.
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The same way you get into any sports: Start at the low level and work your way up. A good starting point is a Go Kart circuit. Be prepared to spend a lot of money though. The only way to make a million in racing is to spend 10 million.