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When you are starting to drive, and are accelerating, you should shift up as soon as possible to between 2000 and 2500 rpm.
Basically, lower RPMs consume less fuel because lower revs mean less friction. An engine that's wailing away at 6000 RPM has to overcome far more friction (from the pistons rubbing against the cylinder walls, the bearings of the crankshaft, and the drag of things like the valve train, water pump, and other accessories) than an engine loafing along at 2000 RPM.
And higher loads have an indirect effect on fuel consumption. For the most part, load is analogous to throttle opening. If you're cruising along in a light-load situation, you might only be using five percent throttle. That means the engine has to work harder to suck intake air through a throttle that's mostly closed. At wide open throttle, there's less restriction on the intake air, meaning the engine isn't working so hard just to breathe.
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