The procedure is to drive the vehicle. Don't exactly know what vehicle your referencing, but most modern cooling systems operate in a similar manner. This section is from one of my Mopar FSMs:
COOLING SYSTEM DE-AERATION
Air can only be removed from the system by gathering under the pressure cap. On the next heat up it will be pushed past the pressure cap into the coolant recovery bottle by thermal expansion of the coolant. It then escapes to the atmosphere in the coolant recovery bottle and is replaced with coolant on cool down. To effectively deaerate the system, multiple thermal cycles of the system may be required.
NOTE: De-aeration does not occur at engine idle, higher engine speeds are required. Normal driving will deaerate cooling system.