I don't know if there are examples of using warp drive to go slower than light. The example given from Star Trek: The Motion Picture might be an error.
KIRK: Impulse power, Mister Sulu. Ahead, warp point five. ...Departure angle on viewer.
SULU: Departure angle.
After flying though space and passing Jupiter:
Captain's log, stardate 7412.6. one point eight hours from launch. In order to intercept the intruder at the earliest possible time, we must now risk engaging warp drive while still within the solar system.
KIRK: Warp drive, Mister Scott. Ahead, warp one, Mister Sulu.
SULU: Accelerating to warp one, sir. Warp point seven, ...point eight, ...warp one, sir.
KIRK: Mister Decker... Wormhole! ...Get us back on impulse power! Full reverse!
So Kirk tells Sulu to use impulse power to go ahead warp point five.
This can be interpreted two ways.
1) Kirk is telling Sulu to use the impulse ENGINES to travel at the speed equal to warp factor point five.
or:
2) Kirk is telling Sulu to use the impulse REACTOR to POWER - provide energy to - the WARP ENGINES so that the Enterprise will travel on WARP DRIVE at the speed of warp factor point five. In this interpretation the Enterprise does use warp drive to travel slower than light.
When Kirk says that they must risk engaging ("turning on and using") the warp drive on stardate 7412.6, that seems like a very strong indication that interpretation number one is correct and that the impulse engines were used to achieve warp factor point five.
Then:
KIRK: Programming ready?
DECKER: Programme set for standard warp entry, Captain, ...but I still recommend further simulation study.
KIRK: Mister Decker, every minute brings that object closer to Earth! Engineering! Stand by for warp drive.
SCOTT (on intercom): We need further warp simulation on the flow sensors.
KIRK: Engineer, we need warp speed now!
McCOY: Jim, you're pushing. Your people know their jobs.
ASSISTANT ENGINEER: That's it, sir. I can't do any better.
SCOTT: Aye, lad. It's borderline on the simulator. Captain, I canna guarantee that she'll hold up.
[Enterprise bridge]
KIRK: Warp drive, Mister Scott. Ahead, warp one, Mister Sulu.
Clearly the Enterprise is about to do something new that hasn't been done since the rebuilding started. It seems very probable that the warp engines have not been used until now, and that the Enterprise used the impulse engines to travel at warp factor point five.