I have to disagree (with those that suggest idling to warm up).
In very cold climates, warming with engine block and battery heaters is a good idea.
However, sitting for 5 or 10 minutes in the driveway is a waste of fuel.
Driving "gently", avoiding jack rabbit starts and hard acceleration is much better. Idling (with or without the tranny in gear) will circulate the fluids and warm them (except the differentials, transfer cases,etc) but that can happen just as easily while driving if you don't drive harshly.
It's better to start, and drive off with non-abusive accelerations than to sit for 5 minutes and then drive like a maniac. Give your vehicle the 10 minutes of easy driving to warm it up.
The manual probably says as much, and most reference sources will as well.