That is what I had to do this past summer when I found out I was stranded, in town. I pounded on the starter solenoid and drove home to pull the starter motor. You can do this yourself, or have an electrical shop perform a test on the windings etc. and replace the contacts and brushes. My truck/starter has 330K and only needed the contacts/brushes installed. I think it was 70. 00 total-out-the-door. Parts cost was under 20. 00 if I recall.
If you can turn the key to start and there is power there at the starter solenoid, then it is the starter where the problem lies.