All have offered great advice..don't force it..it'll come with good equipment and good technique although I agree it shouldn't necessarily be the goal. Though I've been riding street bikes since the late 80's, I first started doing track days/schools with my first R1 (99-first gen-second year--VIR, Road Atlanta, Daytona etc.) and never got my knee down (yeah yeah pathetic I know) but nor was I trying to. I did improve my riding a lot though. Following Team Hammer's instuctors and the then Valvolene Suzuki Supersport Team riders who often doubled as instructors or track day group leaders definitely helped (of course they were just loafing along on their cell phones while I was doing everything I could to even try to keep up!!) One time at Road Atlanta (Summer 2000) they had Thomas Stevens (Factory Ducati rider!) guest riding and sitting in on classes during their track school and out on the track he came along and tapped his hand on his bikes tail for me to follow along for a few laps--How Kool was that!!! I was pushing as hard as I dared and yes he was just putting along but it helped my speed...then he was GONE!!! pretty humbling....the point is knee down will come
Then it happened for me..not at the track, but on the Blue Ridge Parkway heading back down from Mt. Mitchell Park. I wasn't expecting that but it just happened and it was great! Heading up the parkway from Asheville the right lane is the outside lane so on left turns if you go down you either hit Armco Barrier, wood fences, little rock walls, or go off the cliff and on right turns you'll slide into oncoming traffic going back down. But coming down the parkway heading back into Asheville the right lane is the inside lane and on right turns if you go down you'll both potentially slide into oncoming traffic going up or go into fences, woods, off a cliff etc. but left turns there is no oncoming traffic or cliffs etc. Some lefts there isn't a lot of run off but on some there is a fair amount of run off and grassy areas. It was one of those perfect sunny and dry Carolina days, blue skies, cool air but pavement still warm and smooth pavement in good shape and I was in a rhythm coming back down at a decent but safe speed and up ahead was a left sweeping turn with run off space and I just laid her on her side and just as I was coming back on light throttle to settle the bike in the turn BAM! my knee was down through the turn! (yes just jeans and long underwear) I didn't expect it and it was a little bit of a surprise but when everything is right it'll just happen.
By the time I got back home to Charlotte my face literally hurt from having a big shit eating grin all the way home!