Sounds like a Dirty IAC ( idle Air Control ) on the back of the throttle body.
You will need to remove the plastic throttle body cover to see it, it is mounted on the back
2 8mm bolt head ( actually sheet metal screws that have hex heads ) and it will come off.
Take a look at the plunger inside the IAC, to see if it is gummed up, Some throttle body safe Throttle body cleaner should do the trick ( I used 90% isopropyl alcohol and Q-tips to clean mine on my 2001 ).
It should look like this when clean
I replaced mine after the 2nd time is gave me grief ( seems to happen more often once it starts ) and it was ~ 70.00 at one of the Ford dealers that sell parts online ( tasca ).
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