Great advice from the guy who wrote the famous "keep your beetle alive" book that every VW bug owner should have:
Get in, start the car, roll a cigarette, and once you get it drawing nicely, drive off.
Seriously though, too much idling is bad, they won't warm up, they'll just wear the engine. I fire it up, let it warm up for a minute or so, and then be gentle on it until the temperature comes up. Sounds reasonable to me.
peace,
sam