Car started I let it idle because it sat awhile,went back to start car to leave

Do you have any power in the dash or other places in the car? If you do check the ignition coil and/or distributor. Another possibility is the wires for the starter it self. The red wire on the battery should go to the starter if I'm not mistaken. Check the connection at the starter solenoid. There is a smaller wire on there you should check at the same time to make sure they are both connected securely. Replacement wire is fairly inexpensive at a local auto parts store. Let me know.