Start car up, heaters on full and rear windscreen heater on.
Get out and scrape the ice off using an ice scraper... making sure the wipers are not frozen stuck. Then use screenwash to melt the rest of it and wipe it away.
Then do front passenger and drivers windows... that all usually takes a few minutes, and cars starting to warm up a bit by then.
My dads Ford Focus was easy though, get in, start car, two buttons (front and rear windscreen heater/demisters) after 5-10 seconds the ice on the front windscreen has melted enough that the wiper blades will just wipe it all out the way