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On Hybrid cars how does the gasoline engine turn on?

When driving a Hybrid the electric motor is used at low speeds, then the gasoline engine kicks in for more power. Question is how does the gasoline engine turn on or is it always on?
now that I know how the gasoline engine turns on, it does not seem to have any warm up time, so you could be accelerating hard onto a freeway with cold thick oil. should I be worried about excessive wear?