Start the car and drive off slowly and gently until the car reaches operating temperature (known as closed loop). This reduces the strain on the engine while the oil is still cold and thicker. Another option is to use electric engine space heaters, and start the drive with a warm engine. Accelerate promptly to the target speed. For most modern cars, idling a cold engine is both counterproductive and wasteful.
Additionally, as you accelerate, release the gas a bit to cause the automatic transmission to upshift while you are not pressing hard on the gas. This causes less wear on the internal clutches. It is easier on the clutches for the car to shift when you ease up on the gas.