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There are numerous things that will cause this problem. If the check engine light is on, have the codes checked to see if there is a problem the computer has found to cause this issue. Even without the check engine light on, there may be a code stored. You can also do a visual inspection under the hood for any disconnected hoses causing vacuum leaks. These are the best places to begin with diagnostics
This sounds like a classic case of either a dirty/faulty IAC (Idle Air Control) motor or a sticking EGR valve. If you can prevent it from stalling by keeping your fot on the gas slightly and it always restarts right away and runs good when restarted, I'd suspect the IAC first. If it "chugs"when stopping and will run rough even with a little (not a lot) of gas pedal and/or it runs rough when restarted, I'd suspect the EGR.