Well according to [url="http://automechanics.wordpress.com/2008/03/08/how-to-recharge-a-dead-battery/"car mechainces sites[/url], this is not necesscary except with older car models nowadays.
I have had professionals tell me the same thing as this link. I've gone thru a few car batteries because I have a bad habit of leaving the lights on.
Sometimes I could could jump start them but other times I had to get new batteries cuz I left the lights on so long they had to be replaced.
When this happens, I just let car run for 30 to 40 mintues. I haven't had trouble stating the car after 30 mintues. However, letting the car run for just 15 mintutes is is not recommened. :P
This time around, I let it run for nearly an hour. It's working fine now; I drove it two hours later.