Born in Montfermeil near Paris, Pescarolo began his career in 1965 with a Lotus Seven. He was successful enough to be offered a third car in the Matra Formula 3 team for 1966, but the car was not ready until mid-season. However, in 1967 he won the European Championship with Matra and was promoted to Formula 2 for 1968. That season he was team-mate to Jean-Pierre Beltoise and achieved several second places and a win at Albi, which led to him being given a drive in Matra's Formula One team for the last three races of 1968.