Trouble Paying Attention

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I'm not much of an audial learner. I was never good at listening to teachers' lectures in school, let alone remembering what was discussed, and to this day I cannot focus during public lectures. I find myself doing whatever I can to stay with it, like turning my head cockeyed and shaking my legs, but nothing I do works well enough. I just cannot seem to stop daydreaming, regardless of the topic. I just never grew out of this, so how do I change? Should I take notes, and how can I take notes quickly and intelligibly? Should I ask for things to be repeated several times? Should I bring a tape recorder or video recorder?