Stenhouse started racing when he was six, driving go-karts. He later moved in to sprint car racing, being named Rookie of the Year in a sprint car series in 2007. He also raced for former NASCAR driver Tony Stewart in 2007. Stenhouse signed a contract with NASCAR team Roush Fenway Racing in 2007, running in the ARCA Racing Series in 2008. In only his sixth stock car race, Stenhouse won for the first time at Kentucky Speedway. He won another race at Pocono Raceway and was running for the championship with Scott Speed before he and Speed crashed twice in the race so that both of them wouldn't win the championship.