Start the car. Drive out of the garage. Easy on the throttle and keep it out of VTEC until 3 bars (AP1). Then still keep it easy until ~15 min in.

 

i give about 10 sec warm up and leave the garage slowly.
keeping it under 3k in a few min my bar would be all warmed up and ready to hit high revs.

 

I usually give it a 50 second warm up as I park it along with my motorcycle on the bottom level of a sunken hydraulic lift. Routine is to raise the lift, get my car out, leave it idling as I lower the lift back into the ground and then just go. Otherwise, it's 20-30 seconds idle and under 3.5k for the initial 10 minutes.

 

i don't know if someone mentioned this before, but engine is one thing, but your transmission has to warm up too and usually your transmission will take longer to warmer than your engine would.

that's why i shift at 3500rpm until 3 bars when it's cold. Your engine might be ok, but your transmission might like the abuse.

 

Not that I said "gently," not "slow(ly)."

To be clear, that means that I avoid hard braking and hard acceleration, so things have a chance to cool down a little before I arrive at my destination.