I follow the same practice as Herman, provided an air-conditioned room is available.
The critical issue with moisture is that once you get in the water, the air inside the housing cools to the temperature of the water, and if that temperature is below the dew point for the air inside the housing will condense on the housing walls and on the port (since they cool to ambient temperature first). Most cameras generate some heat, so it's less common to have condensation remain on the camera itself, but the camera will also not normally be able to warm the housing enough to remove the condensation.
Dew point is dependent on the relative humidity of the air - the more water in the air, the higher the dew point, so the colder the water, the drier the air needs to be in order to have a dew point low enough to avoid condensation.
In addition to only opening the housing in an environment with comparatively cool, dry air, I also use desiccant strips inside the housing to remove whatever moisture is present. They sell them for use in GoPro housings and they will fit in some other housings as well as they are very small. Larger housings use small bags of silica gel. Both the strips and the gel packets can be recharged in an over at low heat (around 150 degrees) for a few hours.
If you're trying to use a housing in very cold water, some form of desiccant is an essential item.