As far as I know, it hasn't been truely released state-side yet. You can get low quality subbed DVDs (a friend of mine did).
Initial D is pretty spiffy for a series, but the 3d car movement looks unnatural, and the animation is sub-par to newer series out there.
Unless you're a car freak, or just havn't seen enough racing animes, I wouldn't bother too much with Initial D.
It's also hella repetitive. After the first 5 or 6 eps, you'll realize that Takumi won't lose.