I was searching today for the idle relearn procedure, and realized it comes up often on the boards...so since I found it again, thought I'd paste the link, and procedure here. Hope it helps someone!
http://www.w-body.com/showthread.php/14921-Idle-Relearn-Procedure?highlight=Idle+relearn+procedure
1. Reset ECM by pulling ECM fuse (underhood) for a few seconds.
2. With A/C turned off, start car and immediately put it in Drive with your foot on the brake.
3. If the car does not start initially, keep trying WITHOUT putting your foot on the accelerator.
4. Let the car idle in gear for at least 5 and no more than 7 minutes.
5. Shut off the car for 10 seconds.
6. Start engine, place in drive and let idle for 5 minutes.
7. Shut off engine.
8. Idle is learned.