1 Consult the POH and calculate the distance required, factoring in runway surface type, contamination, wind strength/direction, density altitude etc.
2 Then consider the fact that these figures were achieved in a factory fresh a/c and a manufacturers test pilot - what condition is your a/c in and how good a pilot are you? Factor accordingly
3 Then decide whether the field is long enough for a successful departure
4 If it is, the POH will give you the best procedure to get out safely. If not, get help!
This may not be sexy/macho aproach, but at least you'll be legal and your insurance valid ... and you will increase your percentages of being an old, rather than bold pilot