Personally, I after I start the car, I let it sit there for about 1 or 2 mins and then take it onto the street so that the fluids can circulate. Since I live in Richmond though, I've got traffic most of the day anyway so the car just sits and idles in peak hour traffic. I have always found that the temps come up a lot quicker if the car is moving. When I first hit the roads, I change gears at under 3000rpm and once the water temp gets to the middle of the gauge and I see the oil temp gauge get to to about 65 degrees, I think it's ready for some punishment. Usually, that's within about 10 mins of city driving depending on external conditions.
I did do an engine oil change after about 100kms of "running in" but didn't change the oil filter until the 1st service.