The best way to get the engine warm, is to put the car in drive and drive slowly. A light load on the engine will do a much better job of heating up than if you just idle your car. Also if you idle the car you can cause other problems (i.e. fuel dilution of your oil as most cars put extra fuel when cold, moisture from the cold in the engine and exhaust, etc.) once the engine is warm (about 2-3 miles) feel free to turn on the heater. You will find 2-3 mins of the cold will all be gone.
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