Good question, but can be hard to give you a solid answer.
What we do in the shop, after the vehicle has been repaired.
Drive the car normally. We do this first thing in the morning, after it has sat all night. We are close to the freeway, so, drive to the freeway. Once on the freeway we drive it at 55-60 mph, nice and steady for about 12 miles. We then turn around and drive on the freeway back to my shop.
Usually this will complete one drive cycle. Some vehicles will need to sit for some time with the engine off to complete the evaporative emissions test. Some will need to be driven for a second time.
All that being said, I have had some vehicles that were driven up to 1200 miles to complete a drive cycle, and pass all the emissions monitors.