A very common reason for the high and erratic idle you are experiencing is carbon build-up at the idle air control (IAC) valve. I suggest you first remove the valve from the throttle body and thoroughly clean the valve and passageways. Use a throttle body cleaner spray available at all auto parts stores. With the IAC off, spray some of the cleaner directly into your throttle body as per the instructions on the can. If this doesn't cure the problem, the valve itself may need replacing. If the IAC is OK, I would also check the EGR valve for carbon buildup. This valve also tends to choke up with carbon deposits over time and cause erratic idle and stalling by sticking in the up position. Again, disconnect the EGR valve, clean with the throttle body cleaner spray and replace it.
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