Yep, chances are good your car's IAC valve is fouled and needs to be cleaned. You can try spraying some throttle body cleaner into the throat of the intake. That sometimes works. Or to be more thorough, you can remove, disassemble, and clean the IAC valve. I'm guessing by your username that you have a '97? In that case, the IAC valve is similar for the V6 & 4 cylinder engines. Here are a couple of threads showing how to do that:
Thread 1.
Thread 2.
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1992 Camry LE, V6 (3VZ-FE), ABS brakes, 330k miles, dark emerald pearl, owned since new.
1996 Avalon XLS, ABS brakes, moonroof, white, acquired w/ 139k miles, now at 261k.
2001 Yamaha FZ1, Ivan's jet kit, resprung all around, Ohlins in the rear, Race Tech cartridge emulators in the forks, 45k miles.
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