The decision to vote is partly based on the expected cost of voting. We test the hypothesis that voting in one election reduces the expected cost of voting in the following election, as voters learn that the cost of voting is low. Using three different datasets—the National Electors Study conducted during the 2019 Canadian federal election; a two-wave YouGov survey in British Columbia and Quebec in 2008 and 2009, at the time of the federal and subsequent provincial elections; and a five-wave survey conducted for the Making Electoral Democracy Work project in Bavaria in 2013 and 2014, before and after the Land, federal and European elections—we find that voters who voted in a previous election perceive it will be easier to vote in a subsequent election. We also find evidence that voting leads to more accurate estimates of how little time it takes to vote.