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A method and system of forming a lateral wellbore in a time and trip saving manner using a mill/drill to locate and place a casing window. In one aspect of the invention, a lateral wellbore is drilled with liner which is subsequently left in the lateral wellbore to line the sides thereof. In another

A method and system of forming a lateral wellbore in a time and trip saving manner using a mill/drill to locate and place a casing window. In one aspect of the invention, a lateral wellbore is drilled with liner which is subsequently left in the lateral wellbore to line the sides thereof. In another aspect, the mill/drill is rotated with a rotary steerable system and in another aspect, the mill/drill is rotated with a downhole motor or a drill stem.

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The invention claimed is: 1. A method of forming a lateral wellbore, comprising: inserting a liner having a mill/drill disposed at one end into a wellbore having a casing therein; cutting a window in a wall of the casing with the mill/drill; drilling into a formation proximate the window with the m

The invention claimed is: 1. A method of forming a lateral wellbore, comprising: inserting a liner having a mill/drill disposed at one end into a wellbore having a casing therein; cutting a window in a wall of the casing with the mill/drill; drilling into a formation proximate the window with the mill/drill while advancing the liner to form the lateral wellbore; and expanding the liner through the window. 2. The method of claim 1, further comprising expanding a portion of the liner within the lateral wellbore. 3. The method of claim 1, further comprising expanding a portion of the liner within the cased wellbore. 4. The method of claim 1, wherein the liner is expanded into a contacting relationship with the window. 5. The method of claim 1, wherein the liner is expanded into a sealing relationship with the window. 6. The method of claim 1, further comprising removing at least a portion of the liner extending into the cased wellbore from the window. 7. The method of claim 1, further comprising cementing the liner in the lateral wellbore. 8. The method of claim 1, wherein the liner and the mill/drill are rotationally coupled. 9. The method of claim 1, wherein the liner and the mill/drill are rotationally independent and rotation of the mill/drill for the cutting and the drilling is provided by a downhole motor disposed thereabove. 10. The method of claim 1, wherein the mill/drill comprises an inner portion and an outer portion, the inner portion being selectively removable from the outer portion of the mill/drill. 11. The method of claim 1, wherein the cutting and the drilling include rotating the mill/drill with a rotational force provided at a surface of the well. 12. The method of claim 1, further comprising directing the mill/drill towards the wall with a diverter fixed in the casing below the mill/drill. 13. The method of claim 1, further comprising directing the mill/drill by using a bent liner. 14. A method of forming a lateral wellbore, comprising: inserting a rotary steerable system coupled to a mill/drill into a wellbore having a casing therein; directing the mill/drill towards a wall of the casing; cutting a window in the wall of the casing with the mill/drill; drilling into a formation proximate the window with the mill/drill while advancing the rotary steerable system to form the lateral wellbore; and coupling the rotary steerable system and the mill/drill to a liner. 15. The method of claim 14, further comprising expanding the liner through the window. 16. The method of claim 15, wherein the liner is expanded into a contacting relationship with the window. 17. The method of claim 15, wherein the liner is expanded into a sealing relationship with the window. 18. The method of claim 14, further comprising rotating the liner. 19. A method of forming a lateral wellbore, comprising: inserting a drill stem, a rotary steerable system, and a mill/drill into a wellbore having a casing therein, wherein the mill/drill is rotationally coupled to the drill stem and coupled to the rotary steerable system; directing the mill/drill towards a wall of the casing by actuating the rotary steerable system; rotating the drill stem from a surface of the wellbore; cutting a window in the wall of the casing with the mill/drill; and drilling into a formation proximate the window with the mill/drill while advancing the rotary steerable system to form the lateral wellbore. 20. The method of claim 19, wherein directing the mill/drill towards the wall of the casing occurs while rotating the drill stem.