Although diesels stand up to it better (you see trucks doing it all the time, and they still do heaps of K's between rebuilds), prolonged idling isn't good for any engine — just get in and drive it.
Probably you could avoid full-throttle operation for the first five minutes or so, and I wouldn't let it lug in too high a gear, but there's not really very much damage you can do from the driver's seat.