Some racing games have practice modes where you can practice racing your opponents. The practice mode allows you to race as fast as you can without the pressure of the other opponents.
My first racing game was Crash Bandicoot... what a wonderful game, great for kids and adults alike. Really enjoyed playing it, lots of my childhood was with this game!
I can't remember my first racing game anymore, it was probably Outrun on the arcades or something similar. I mostly got into racing games later down the line with PS2.