I usually let it warm up for about a minute or two, until the RPMs idle in the 700-800 range.

96 Contour SE Duratec V6 24-valve 2.5L ATX 108,000 mi. Replaced: crankshaft w/ DMD, EGR valve (clogged), EVR, DPFE, PCV valve, evap emissions hose & tube (cracked), window regulator (broken), LH & RH PCV tubes, UIM gasket (leak), ignition coil