Start car and let idle until engine is warm.
Hold throttle at 2000 RPM for two minutes.
Turn off engine and disconnect throttle sensor.
Start engine, rev twice to 2000 RPM.
Adjust the idle speed to ~750rp using the idle adjust screw, located near the oil filter.
Shut down the engine, connect the throttle sensor, and start the engine.
The engine should now idle at out 800RPM.
Source: Jim Wright
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