Shuddering while shifting after a cold start

When first starting out from a cold start in my 1994 Celica, the engine shudders when shifting from first to second gear, requiring me to depress the clutch and accelerate to keep the car from stalling. This occurs the first couple of times I have to start from a stop. If I let the engine warm up for a few minutes before driving, the shuddering often does not occur. What causes this and how do I fix it?