The three-minute warm-up
Before every FIP match the four players share a compulsory three-minute warm-up rally. It is a courtesy rally with your opponents, and you stay in the match area while it lasts.
Three minutes, all four together
The warm-up is compulsory and lasts three minutes. The FIP calls it a courtesy rally between the players: you hit with the pair across the net, so everyone gets a feel for the ball, the light and the glass.
Stay in the area
The warm-up already counts as part of the match for the conduct rules. You may not leave the court and the space around it during the warm-up without the umpire's permission.
It counts towards ball changes
If the organiser changes balls after a set number of games, the warm-up counts as two of those games.
After a break
When a suspended match restarts, the warm-up depends on how long you were off: none after up to 5 minutes, one minute after 5 to 20 minutes, and three minutes after more than 20.
Questions
Is the warm-up compulsory in padel?
Yes. The FIP rules set a compulsory three-minute warm-up rally between the players.
Can you practise serves in the warm-up?
The FIP rules only describe a three-minute courtesy rally between the players. Whether a few serves fit into that time is for the umpire or, in a friendly game, the four of you to agree.