My car and another vehicle are notorious for this behavior. Every 2 months this is what I do to fix a stuck or slow idle air control valve.
The first step is to remove the air filter.
Step 1: Lubing!
I used power lube spray into the intake duct for the valve. I put back on the air filter and leave that to soak for at least 30mins.
Now once the engine is in use, the vehicle idles very smoothly!