It takes as long as you don't turn the phone off or restart it. As long as you're not downloading anything to the phone via the USB cable, you can turn it off or restart any time you want. (If you're downloading the operating system and do that, you end up with a dead phone - that's why the warning.)
Welcome to Android Central! If you have a Samsung phone, you get into this mode by pressing Power, Home and Vol Down together when powering up. After pulling the battery, just power up normally by pressing the Power button alone.