While putting on your foundation, just place your mascara somewhere next to your body. The mascara will heat up to your body temperature and it will be so much easier to apply. I usually place it down in my bra or you can put it under your leg if you're sitting down. It doesn't dry it out at all, just makes it smooth for application.
Also, if you sometimes get a shaky hand, place a plastic spoon over your eyelid just above your lash line. The mascara will end up on the spoon, not on your lid.
One more tip for your mascara. I bend the wand just a little at the end of the brush to make about a 45 degree angle. Hope these little tips makes your beauty routine easier.