Sure, you are allowed! Just make an appointment with either the pastor or a priest at your nearest Catholic parish. He will be able to share with you the necessary steps. Make sure you ask him what ministries or apostolates the parish has that you can participate in; it's a great way to meet new friends!!
Seeing you may be preparing to take RCIA classes in the near future, I would encourage you to consider buying a cheap copy of the Catechism of the Catholic Church to learn everything we believe as faithful Catholics.
Under each boxed format for the Catechism you want, you will see, below the box, an option to buy a used version, which many times, is not really used but close to new.