First of course make sure the basics are ok and not in major need of a tune-up, after that check the throttle plate for excessive coking build-up, the computer is reliant on small amounts of air passing through to properly raise idle, usually this problem becomes prominent when your a/c pump comes one (which can even come on when using the heater or de-frost) especially when the car is cold( restarting the engine a couple of times can affect the engine temp, though probably unlikely) An injector cleaning has also been effective in elevating idle,but wont correct the problem in itself, as cleaning the throttle plate can.(check with vehicle maker for any precautions to take when cleaning throttle plate. I usually use carb-cleaner and a tooth brush. Also check for vacuum leaks and wiring harnesses. Listen for a fuel pump prime when key is turned to the on position(usually 2 or 3 seconds) this usually just causes extended cranking time though . check this stuff if all ok give me more info and I'll give you some tips on how to isolate your problem
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