Earlier quoted context omitted.
It depends. I have multiple windows (incognito and normal) containing many tabs. It takes copying the URL, Alt+Tab, Ctrl+V, Enter. History is important, but the site is called "ruinmysearchhistory.com". I visit websites I know with my normal window, the rest is mostly in incognito and if it's something I want to remember, I'll make sure to include it (i.e: visit it in normal mode, Evernote, Bookmarks, email to myself…
You could just 'Right Click->Open in Incognito' instead of manually copying the URL, at least in Chrome.
I do that when I'm already in incognito mode, not in normal mode because I don't know where the tab will be open (I have multiple incognito windows and I like to know where each tab is/will be).