You don't need to wrm up your car. Those days are long past. But...you don't want to be high revving your engine when its first started and the engine block is cold.
Just take it east until it warms up.
first and foremost is to have variation in the throttle/speeds....
basically, you wanna drive the car as you probably wouldn't normally ; or ON-OFF the gas fairly often, to keep changing the revvs... (pistons/rings are seating, and need a workout; just no redline dances)