In reply to Sharp:
They do that, after a couple of times driving the computer should re-learn the correct idle speed (my Forester does o.k). The older the car the worse the problem as the default settings are further away from the ones an old engine needs.
Or reset the ECU like this ( a copy and paste from elsewhere):-
when you have an hour you can spend doing this when the engine is STONE COLD...
make sure ALL the accessories are OFF....no tunes,.....no AC.....no lights...NOTHING on....EVERYTHING OFF
take the battery NEG off and let the car sit for at LEAST 10 minutes
reconnect battery SECURELY
reach in and put the key in the ignition....DO NOT TOUCH THE THROTTLE PEDAL AT ALL
turn the key to the 'RUN' position for no less than 10 REAL seconds!!!!....that is the last 'click' before the starter starts...DO NOT TOUCH THE THROTTLE PEDAL AT ALL
for MT cars, push the clutch pedal in...for AT cars, push the brake pedal.....DO NOT TOUCH THE THROTTLE PEDAL AT ALL
turn the key and let the car start...this may take longer than usual...DO NOT TOUCH THE THROTTLE PEDAL AT ALL
get out of the car and let the engine idle for AT LEAST 20 MINUTES or until the fans come on....DO NOT TOUCH THE THROTTLE PEDAL AT ALL
turn the car off AND TAKE THE KEY OUT OF THE IGNITION for at least 30 seconds.....DO NOT TOUCH THE THROTTLE PEDAL AT ALL
put the key back in and start the car again..... DO NOT TOUCH THE THROTTLE PEDAL AT ALL
drive the car how you normally would......