A lipo charger will only charge your battery as far as it needs to go.
Use the "balance" feature, and all the cells will be charged to their maximum safe voltage.
how long does it usually take to charge them?
depends on how much you drain them, and how long you want them to last.
If you have drained like, 2% of their working capacity, it's going to take about 3 or 4 minutes to charge.
If you drain like 90% of their working capacity, it will take at least an hour to charge safely, depending on the quality of the battery and consistency of the charger.
I charge all of my batteries at a 0.5C rate, even though they are all rated to a 1C or 2C charge rate. FYI, 1C=1 Hour/Charge Capacity, 2C=0.5 Hour/Charge Capacity, and 0.5C=2 Hour/Charge. Most Lipo cells are rated to safely be charged at a 1C charge rate for their effective life span (anywhere between 100 and several thousand charge cycles, depending on cell quality, charger quality, use rates, usage methods and how well they're treated overall).
A "trickle" charge for lipo cells is 0.05C-0.1C, or approximately 10-20 hours for a full charge from a full drain. Very few lipo chargers offer this as a standard charge method, but is ideal for charging the batteries to maximize charging cycles.