It could be 1 of 4 problems:
1. Sticking throttle linkage
2. Choke opened excessively at idle
3. Idle speed is incorrectly adjusted
4. Valve clearances incorrectly adjusted (V6 Engine)
If it is the throttle body sensor here's how to replace it.
1. Disconnect wires to battery (if u dont u could get shocked).
2. Unplug the TPS wire connector
3. Bend back the TPS lock tabs, if it has them. Remove the retaining screws, then detach the TPS from the throttle plate assembly.
To reinstall Throttle Sensor, just reverse the removal process.
I suggest that u have the new sensor adjusted by a mechanic or a Jeep dealer.