i would personally never track my daily driver. for many reasons.
but, if you want to do some occasional track driving and dont want to invest very much i would join a club like SCCA. or you can join a subaru club and do the occasional track day.
if you want to actually get a little serious, and actually want to be competitive and put down quick constant lap times you need to take a class and get some professional instruction. there are far to many facets of race car driving you simply can not teach yourself.