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Mark Martin is respected and revered for a 31-year NASCAR racing career that includes 40 Cup victories, 49 XFINITY wins and five heralded IROC championships.

He is considered one of the most talented, highly focused and broadly successful competitors in NASCAR history.

And later this week, Martin will formally acquire a designation that makes him most proud of all: NASCAR Hall of Famer.

"When I’m introduced at a function, now people can call me something, I’ll have a title," Martin, 58, said this week with a laugh. "Prior to that, you kind of had to search for a title, although I had done a lot of cool and amazing things in my career."

His long list of "cool and amazing things" is what earned Martin this highest of honors. He joins Benny Parsons, Richard Childress, Rick Hendrick and Raymond Parks in this year’s Hall of Fame class and will be formally inducted Friday in Charlotte (8 p.m. ET on NBCSN).

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For Martin, it is a story of supreme determination and talent. In addition to his 40 wins and five championship runner-up finishes in NASCAR’s highest level, Martin proved to be one of the series’ most diverse competitors — ever.

He won four GT class championships competing in the Rolex 24 during the 1990s. And his five IROC titles — and four more runner-up IROC championship finishes — showed Martin’s great ability bettering the best drivers across all forms of racing from NASCAR to IndyCar to sports cars to sprint cars.

It is certainly something that separates and elevates him to the highest of standards through four decades of the best competition in multiple genres. So understandably, Martin had to really think about what in his vast career makes him most proud.

"I don’t know if there’s a single thing," Martin said. "One thing, I would have to say the fact that I made it to NASCAR at such a young age (22). At the time it was an amazingly young age, then I fell on my face and had to go home and start my career again.

"So I would say perseverance, if you want to sum it up in one word. Having to start my career all over again and building my way back. Having a second chance is probably the biggest thing."

"And the second thing is what I did in the IROC Series."

Martin has acknowledged that he was as focused and intense as they came. He was the first driver to seriously incorporate fitness training into his race preparation — something that may have eased his ability to compete at such a high level even into his 50s.

That determination to find an edge was apparent in the garage, even from an early age. He was among the rare drivers to frequently be seen looking into the hood of his car and working alongside the crew. It was the way he was raised by his father Julian, who took great care in guiding his son’s passion.

There are photos of Martin’s earliest racing days clearly showing how Julian Martin had gone so far to alter his son’s first race cars out of love and safety — mounting the steering wheel in the middle of the car instead of having it on the far left.

Dad and son travelled from their native Arkansas throughout the Midwest following the racing dream and they were very close — now the hard work rewarded with Martin’s long list of achievements and this highest of NASCAR’s high honors.

Heartbreakingly, Julian was killed when the plane he was piloting crashed in the Nevada mountains in August of 1998, also taking the life of Martin’s stepmother and 11-year old stepsister. Martin remembers immersing himself in competition as best he could to deal with the tragedy.

Martin won the night race at Bristol two weeks after losing his father. Immediately after climbing out of his car in Victory Lane, he emotionally thanked the race fans for "their sympathy, love and support" saying their "love for our family has meant everything."

"I felt it was my obligation and responsibility to go racing and that’s what my dad would have wanted," Martin acknowledged last week. "It was tough, but it would have been tough sitting on a couch in a daze, too.

"To me, racing was sort of a responsibility that I had. I felt responsibility toward the 50 or 100 people that supported the (then-Roush Racing) 6-car and a responsibility to race. I just didn’t feel like missing a race because I was grieving. … To me, at the time, it just didn’t seem like the right thing to do.

"It did help me cope with the horrendous loss I was experiencing because I did have to pick up and go racing."

And for Martin, the success he would later experience in the second half of his career is as impressive and inspiring as anything he accomplished. He came as close as he ever had to winning the Daytona 500 in 2007, losing the race to Kevin Harvick by a mere 0.02-seconds — a hood-length — in a photo finish that marked Martin’s best ever showing in the Great American Race.

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Two years later, at the age of 50, Martin challenged Jimmie Johnson for what is now known as the Monster Energy NASCAR Cup Series championship, winning five races and claiming seven pole positions. Martin led the standings after each of the opening three Chase races, only to finish runner-up to Johnson, a seven-time winner on the year.

It marked the fifth and final time Martin was a championship runner-up in an amazing 20-year span of his career. It is a remarkable accomplishment and something he says he is at last comfortable enjoying, free of any near-miss regret.

"I never scored enough points to win one, and that’s that," Martin said, when asked about it last week. "I would have won one if I had scored more points than anyone else. … and I let that take an enormous amount of joy (from me).

"It’s something I let go of and I refuse to allow that to rob me of joy. I have a lot to be thankful of, be grateful for. I accomplished a lot in my career and I’m not sour about the things I didn’t accomplish."

The attitude accompanies good reason — because by all standards Martin accomplished so much and is admired by so many.

Later this week, he will be fittingly celebrated in all the glory he deserves for a career that showed everyone what hard work and mental focus could produce.

Forever more, Mark Martin shall be known and introduced as a NASCAR Hall of Famer.

"It means more than anything I achieved while I was racing because I was so busy racing, anything I achieved I never paid attention to," Martin said. "I was just storming ahead worried about how I would win the next race.

"Now that I’ve had some time to soak it in, it’s the last big deal, the big win, the crown jewel of my career.

"Don’t forget the people in the Hall of Fame are my heroes, the founders of the sport, the real men that did it with their bare hands. I’m a little bit uncomfortable going in there with them, to be honest with you, because I don’t feel like I belong in that kind of company."

Perhaps once he stands on stage — properly celebrated and duly honored — Martin will accept that he is absolutely a part of that good company. The best.