I'd say that your base idle or your TPS position needs adjustment. To set the base idle (for a SRxxDE or SRxxVE):
1. Warm car up & turn it off
2. Turn ignition on
3. Disconnect TPS plug
4. Start car
5. Rev the car to 3000-3500rpm and let it return to idle. Repeat this two more times in quick succession
6. The ECU is now in "set base idle" mode. Hold the revs at 2000rpm for 15-20 seconds to clear out any unburnt fuel. When it drops back to idle it should stabilise at 850rpm (P10), 800rpm (P11). If not, wind the base idle screw anticlockwise to raise rpm, or clockwise to lower it. Once you've adjusted it, repeat this step until it consistently returns to the correct rpm.
Once you've set the base idle, turn the car off & reconnect the TPS plug.