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See
DIY: Cleaning the Throttlebody (5S-FE - other engines similar)
While you're in there, make sure the throttle plate is staying fully closed at idle.
If that doesn't help, I'd check the Engine Coolant Temperature (ECT) sensor to see if it's reading too "cold", especially if you seem to be running rich.
Also, it doesn't take much of a vacuum leak to give you high idle -- take a look for cracked or loose vacuum hoses, listen for any hissing noises.
BTW, what engine? Hard to get too specific without knowing that.