Cold weather
Vehicles today do not need to be warmed up ...
... before driving. Driving is the best way to warm up the engine. Idling isn't a good way to warm up your vehicle in cold weather because all of the car's parts aren't being used. The best way to warm your car up is to drive it. Driving is the best way to warm up not only the engine, but the transmission, catalytic converter, wheel-bearings, steering, suspension, etc.
Plan on your car being cold in cold weather. Layer on the warm clothing, utilize ice scrapers and consider investing in a bottle of de-icer or make your own by mixing up a solution of half vinegar and half water.
Here is the correct cold weather warm up procedure for gasoline engines.
Make sure that your vehicle is tuned-up.
Forget use of remote vehicle starters which encourage excessive idling. Consider using an engine block heater; they can be timed to turn on two hours before starting the engine.
If necessary, scrape/de-ice and clear your vehicle off first. Then start the engine and immediately blast the defroster. In most cases, you'll be ready to go in 30 seconds. Just start out slowly to moderately to get the lubricants flowing.
(Source: TheTransportation Program of Natural Resources Canada's Office of Energy Efficiency (OEE) & the Vermont Agency of Natural Resources)