Once you get your car jump started the car should idle for at least 10 to 20 minutes before you shut the car off.
Ideally you should idle the car for 5 minutes and then take off on a slow drive for a few more minutes and then drive at highway speeds for around 5 miles which should be long enough to allow the battery to fully charge.
If your battery is dead where it has dead cells in it then it might take longer to reach a full charge and then you still may have trouble with the battery not starting the car no matter how far you drive.
However I would always run the car and drive the car for at least 20 minutes to charge the car battery fully before shutting the car off again.
Even when idling your cars alternator should be charging the battery back up within a few minutes as long as the battery is good and the alternator is good as well.