How important is it to let the engine of your car run first before putting the car on drive?

After a few hours of not drving a vehicle, is it important to let the engine run for a few minutes first before putting the car on drive? Is this a vital step to better your vehicle's performance?
Youre probably asking this because someone told you to let your car sit for about 10 min before driving away. It isnt really vital to the engine at all, but an engine does waste more gas when it is cold. In wintertime, this comes into play more because
| Sep 05, 2006
Zoom-Zoom review time! RT @ Australia's top-selling car gains an efficient new engine. We've driven it.
RT @: Australia's top-selling car gains an efficient new engine. We've driven it.