There are two ways to pitch a yeast starter (per the Yeast book), I always do the first, just like Dennis;
1) wait until the yeast consumes all the starter wort sugars, let it settle out and decant the spent wort (which you don't want to pollute your beer with anyway), and then add some cooled wort from half way through your boil to wake up your yeast before pitching. This is the correct method when you are using a starter volume greater than 5% of your brew length
2) pitch the starter as soon as the growth phase is mostly complete and the yeast are still at the height of activity. If you are going to pitch a starter at high kraeusen it is best to keep this close to the temperature of the main batch, and also to have control over the temperature of your starter, and also this is only suitable for smaller starter volumes