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Generally, tracks will have some sort of lapping or club day that you can participate in. There usually is a requirement that you've taken some sort of high-speed driving class, some tracks require that you take their class. If you haven't taken a performance driving class I strongly recommend them - you'll learn just how little you know about driving.

In terms of preparation, for a novice-level class you'll need a well-maintained car with plenty of tire and brake pad left, nothing loose, fluids in good shape, etc. Some classes (even novice classes) require a convertible to have either a proper roll bar or hardtop - your Boxster "sport hoops" may not be sufficient. For open lapping, there's no way the Boxster hoops will be accepted.