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Some excellent advice has been offered here already, but I'd like to add a little input as well.
You state that you feel like you'll never "be prepared," which is a difficult question to answer without a little more background as to what you feel unprepared for. I recommend sitting down with a college adviser to discuss your background so that you get placed in classes which will suit your background, interests and current educational level. Also, ask yourself what you want to get out of your college experience, and why you're attending college in the first place. This will help clarify your end of objective (degree, career, etc.) Once you do this, its easier to devote yourself to studies because you know its part of the path to that objective.
Be prepared for a more rigorous learning environment, and set aside time to study. My first year of college I had a hard time fighting the impulse to hang out with friends and enjoy my relative freedom, instead of sitting down and hitting the books. While recreational time is important, set some study goals for yourself with recreation as the reward for completing them. I found that doing this helped me a lot.
Finally, if your feelings of being unprepared come solely from being overwhelmed or intimidated by the whole concept of college, then the best option may be to just go for it. It will likely be a rewarding experience, and you may find that you'll look back at your experience and realize it wasn't as overwhelming as you thought it was going to be.
Are you currently a college student?
College is scary, especially for freshman's. You have to learn how to have discipline and know when its right for you to have fun or when its right for you to stay home and just study. There are sleepless nights but its worth it in the end. Have confidence in yourself and surround yourself with people that are disciplined and are majoring in the same thing you are.
Going college is like learning how to ride a bike. You just have to hop on and start peddle. You can never learn it from watching other people on the sideline.
Register for two class and start attending them. My college experience is way better than high school. Just give it a try. Let your thoughts be replaced by action.
You will first need to find what you passionate about. What are your interest, skills, and talents? While in high school, you should also make sure your grades are exceptional as well as participate in extracurricular activities. As a result, applying for scholarships and college will be easier. In addition to grades, time management and study skills will also play a major role in exceeding. Always work hard first, then play later. A time management schedule will also be beneficial. For example, study for two hours, then break for thirty minutes. A timer can also ensure that your breaks are timely.