It's usually a good idea to let the camera cool down & warm up slowly. When out in cold weather I try to avoid fogging the lens or viewfinder but when it happens I usually have to wait the few seconds for it to clear.
Always remember that the real danger of condensation happens when you bring a cold camera inside out of the cold. I usually just put the camera in my bag and zip it up...then leave it in a cooler area of the house before I open the camera bag. If I had a digital, I would probably be more cautious and put the camera into a zip-lock back before bringing it inside.