FLC OF LR60 DEPARTS IFR WITHOUT RELEASE. THEY ALMOST ENTER RESTR AIRSPACE; BUT DEP CTLR ISSUES TURN TO KEEP THEM AWAY FROM THE RESTR AREA.

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MY COPLT AND I DEPARTED FROM ILE ARPT WITHOUT RECEIVING AN IFR RELEASE FOR TKOF. AS A RESULT; WE ALMOST FLEW INTO RESTR AIRSPACE. AFTER LIFT-OFF THE FO INITIATED CONTACT WITH GRAY APCH ON FREQ 118.0. AT THAT TIME THE CTLR ISSUED INSTRUCTIONS TO MAKE AN IMMEDIATE R TURN TO STEER US AWAY FROM THE RESTR AIRSPACE. THE INCIDENT DID NOT JEOPARDIZE OR PUT ANYBODY OR ANY ACFT IN HARM'S WAY. THE MISTAKE WAS A RESULT OF AN IMPROPER BRIEFING PRIOR TO TKOF. THE INFO RELAYED TO ME BY MY FO WAS THAT WE WERE TO CONTACT APCH CTL ONCE AIRBORNE. WE DISCUSSED OUR DEP PROCS WHICH INCLUDED KEEPING A VISUAL ON A C172 THAT WAS JUST TAKING OFF AND WAS TO REMAIN IN THE PATTERN AT ILE. UPON LIFT-OFF I MAINTAINED RWY HEADING UNTIL WE WERE SURE THE C172 WOULD NOT BE A FACTOR. ONCE THAT WAS CONFIRMED I INITIATED A R TURN TO STAY CLR OF THE RESTR AIRSPACE; AND THE FO INITIATED CONTACT WITH GRAY APCH. I CONTINUED IN MY R TURN UNTIL I WAS ON AN ASSIGNED HDG OF 100 DEGS. WE THEN RECEIVED OUR IFR CLRNC AND CONTINUED WITHOUT INCIDENCE. I WAS EMBARRASSED OF OUR ACTIONS BECAUSE I SHOULD HAVE KNOWN BETTER THAN TO BELIEVE MY FO'S BRIEFING SINCE WE WERE ALREADY SQUAWKING A SPECIFIC IFR CODE ON OUR XPONDER. THIS SHOULD HAVE ALERTED ME THAT SOMETHING WAS NOT CORRECT WITH OUR COCKPIT SET UP. THE LESSONS LEARNED FROM THIS ARE: 1) FROM NOW ON WE WILL BOTH LISTEN TO AND COPY THE IFR CLRNC. WE WILL THEN VERIFY WITH EACH OTHER; THE PROPER PROCS; AND 2) PRIOR TO TKOF FROM AN UNCTLED ARPT; I WILL SIT DOWN WITH MY COPLT AND REVIEW THE DEP PROCS WHETHER IT BE IFR OR VFR.