As jeck says.

The one thing you should not do after starting up a cold engine is to race it (ie. aggressive throttling, acceleration and/or red-lining). Otherwise, you can drive the car as you normally would.

If we're going to use an athlete's body as an analogy, a warm-up exercise means running a lap or two around the court, doing jumping jacks, etc. You don't warm-up just sitting down doing nothing. Somewhat the same with cars. You warm it up by "stretching its legs" and just be on your way.