High school probably gave you ample time to practice note-taking skills. You will definitely need these in college. Instead of trying to write everything down during a lecture, which is impossible, jot down main points and subpoints. This will allow you time to ask questions about information that might need clarifying. If you feel you are missing too much information, ask the professor if you can tape record the lectures. Remember, too, to answer questions. Your professor will appreciate your active participation, and answering questions will confirm what you know and understand.
As soon as time allows after class, review your notes and add anything you may have missed. Get together regularly with a classmate or a group of classmates to compare notes. You may even want to copy your entire set of notes again on your own, adding information you received from your classmates and your textbook.