Instructions
On the main menu screen, select "Free Play."
Select "Quick Race" or "Hot Lap." Select the former to race against other cars or the latter to go solo and set the best track time.
Choose which car and real-world track you want to race or practice on; all are available from the beginning and none need to be unlocked by playing through the career mode.
Start your session. Practice getting faster and faster lap times. Playing the track repeatedly will mean you learn the layout of the track over time.