Assuming you're using RobotC, you can create a new program with the template by going to File->New->Autonomous/User control Template. The difference between this and a blank program is that the template has the waitForStart function call already in the program. This function is what makes your robot wait for the field to start before autonomous/teleop.
If you use LabView, it is the same concept, and you should be able to find more info here:
https://decibel.ni.com/content/docs/DOC-18080