I just do like someone else has stated here: turn key to glow position, put on seat belt, crank the sucka and drive off slowly. By the time I get to the highway, temp gauge will be just below 80 C so I can do highway speeds safely.

Just about anything is better than the typical practice of just starting the engine and letting it run for several minutes to warm up as people do with gasoline engines. Try that in your diesel and you'll just start choking up the engine. Additionally, while a gasoline engine can attain optimum operating temperature just by idling for a brief while, the same doesn't apply to diesel engines.

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1999 Mercedes-Benz S600, 103K miles - garage queen
1988 Mercedes-Benz 560SEL, 89K miles - daily driver
2007 Hyundai Sonata Limited, 31K - daily driver