Joe Lehman drove his first race in 1955, driving a 1934 Ford Coupe at Englewood Speedway. Starting in 1962, he began winning auto racing championships at an unmatched pace. Lehman won many modified championships at Englewood Speedway and drove the Pikes Peak Hill Climb from 1968 through 1971, finishing second in the stock car division on two occasions. Lehman raced at a number of tracks located throughout the Western half of the United States. He drove midgets, sprint cars, Champ Cars, modifieds and late models.