I've had this situation quite a bit (3 cars)
I just put a battery charger on for 24 hours or so, then while that's happening, change the oil if it's old and filter aswel, check water in radiator (check, not full replace), then fire it up.
Drive it around the block then check the water and oil levels again. Or even just start it up and run in the driveway until it's warm and up to normal temp.
I drive without using much throttle until the fuel is almost empty, and drive it as low as I dare (like the light will definatly have been on for a while), then a full tank of pump98.
Don't forget to check air pressures in tyres.
Brake bleeding I just take it to a hoist at the first opportunity, it's not like you can't drive it with a spongy pedal