It depends if your transmitter has a throttle hold and the ESC has a good soft start.

If they don't you flip into idle up while in a hover. Then you go into normal mode in a hover and land when you are done.

If they do you can flip into idle up before you take off. First you would turn on the throttle hold. Then plug the battery in. Flip into idle up. Move the pitch to zero degrees. Then turn off the throttle hold and wait for the blades to spool up.

Nick