If you bring a cold telescope inside to a warm and more humid environment you will get water condensations on everything that is exposed to the inside air (mirror, lens, everything). So, don't do that. What you want to do is to prevent the warm and more humid air from contacting (directly) the cold object. So, while the scope is still outside place it into some form of air-tight container or bag that contains as little excess air as possible and then seal the container or bag. Then bring that inside.
Then, after several hours and after the scope has reached the indoor temperature open everything up and expose it to the indoor air.
The only exception to this "rule" should be when the scope is already wet and in that case you need to dry it or allow it to dry BEFORE you bring it back inside. How you do the latter is your own concern, but if the mirror or lens has any condensations on it then it's probably best just to leave the scope outside in a protected location, best would be in an unheated but dry garage or storage shed. If you can't do that (for either safety concerns or because you don't have such a structure) then do your best to dry the optics and optical tube and then use the guidelines I gave above. I sometimes use a small and low-power defroster device that is designed for use in a car, from a 12VDC source.
Now, if you know that the humidity inside is so low that there would be no possibility of condensations on a cold object, then you can just bring the scope directly inside without waiting or enclosing it in a container. However, you'd still want to try to dry anything that was already wet before you do that and I'd be very careful about assuming that the indoors is dry enough for this kind of treatment (it probably isn't the case in most homes unless you use dehumidifiers or live in a location where the humidity is in the single digits -- both outside and inside).