HT Motorsports made its NASCAR debut at Martinsville Speedway in 2002 as the #17 Duck Head Footwear Dodge Ram driven by Darrell Waltrip. He qualified eighteenth but finished thirty-eighth. Waltrip returned at Indianapolis Raceway Park with Tide sponsorship, and finished sixth. Stacy Compton would drive three additional races that season, posting a best finish of eighth at Richmond.
In 2003, HT switched to the #59 and hired Robert Pressley to drive. Driving with associate sponsorship from Melling Engine Parts, Pressley finished in the top-five four times and finished thirteenth in points. Randy LaJoie ran the first two races of 2004, followed by rookie Mark McFarland. McFarland finished sixth at Mansfield Motorsports Speedway before being cycled out by LaJoie, who had an eighth place finish at Gatway. Andy Houston drove for three races, but did not finish higher than 14th. Sammy Sanders, Bobby Hamilton, Jr., and Scott Lynch finished out the year in the 59.
Pressley returned to HT in 2005, but had only three top-ten finishes and finished 20th in the standings. He was released and replaced by Mike Wallace at the beginning of 2006, but wrecked out of the two races in which he drove for the team. Steve Park became the team's new driver, as the team switched to Ford. Despite a tenth-place finish at Mansfield, he was released after ten races and replaced by Chad Chaffin. After a slow start, the team switched to Toyota and Chaffin finished eighth at Talladega Superspeedway. Terry Cook was named the driver of the 59 for 2007, and had two top-tens and finished fourteenth in points. He was released at the end of the season for Whelen Modified driver Donny Lia, who raced the last race of the season.
For 2008, Ted Musgrave will move to the #59 team, bringing along his ASE sponsorship.