Reference: Natural Resources Government of Canada (Transportation Initiatives)
Contrary to popular belief, excessive idling is not an effective way to warm up your vehicle, even in cold weather. The best way to warm it up is to drive it.
What's often forgotten is that idling warms only the engine – not the wheel bearings, steering, suspension, transmission and tires. These parts also need to be warmed up, and the only way to do that is to drive the vehicle. Until the engine temperature begins to rise, it's a good idea to avoid high speeds and rapid acceleration.
Fuel combustion is also less efficient in a cold engine, and the air-fuel mixture is richer - in other words, there is more fuel and less air in the mixture. (The mixture of fuel vapour and air must be in proper proportion for efficient combustion.) The combined effect is a sharp increase in GHG and CAC emissions. On top of everything else, the catalytic converter doesn't work efficiently when it is cold. Therefore it is important to drive the vehicle so that it reaches its proper operating temperature as soon as possible in order to maximize fuel efficiency and reduce emissions.