Valentino Rossi began his US MotoGP weekend with second and fourth places in Friday's practice sessions, both of which he led.

The Italian, seeking his third podium in a row, concluded the day as the leading Yamaha rider, just 0.3s behind Honda's Marc Marquez.

"I'm quite happy with the first day, it was not so bad and we stayed with the top guys in the two practices. It's a very difficult racetrack to find the right settings. It is very physical for sure and Sunday will be a very long race," said Rossi.

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"I feel quite confident with the bike, it's not so bad but we have to try to do better and improve the balance, braking and acceleration. We are working to improve our performance as we are not so far from the top but we are not yet there.

"We hope to improve tomorrow to find a better balance for going faster and to get a good rhythm."