WATKINS GLEN, N.Y. — AJ Allmendinger’s journey is almost complete.

With a new contract, sponsor extensions and a solid one-car team at JTG Daugherty Racing, Allmendinger became a winner in Sprint Cup for the first time on a somber Sunday, outdueling Marcos Ambrose in the final two laps at Watkins Glen International.

“I dreamed about this moment and I’m not going to forget it,” said Allmendinger, making his 213th Cup start. “It’s just a dream come true.”

The day began on a solemn note when three-time Cup champion Tony Stewart pulled out of the race 12 hours after he struck and killed 20-year-old sprint car driver Kevin Ward Jr. in a race after Ward climbed from his car on a small dirt track in nearby Canandaigua.

Allmendinger offered his condolences to the Ward family after he won, saying, “We’re a community here, we’re thinking about you.”

Regan Smith drove Stewart’s car and finished 37th after having to start from the back of the 43-car field and getting caught in a late accident.

Allmendinger’s life changed two years ago in the hours before the July race at Daytona International Speedway. NASCAR officials had just kicked him out of the track, suspending Allmendinger indefinitely for failing a random drug test.

The failed drug test sidelined him for more than three months and cost him his job with Penske Racing. It also spurred much soul searching.