It's all in the manual, it's all out lined on how to do the idle learn procedure.
You can do a search on this forum for "idle learn procedure". But since I'm feeling extra nice today, here's the Cliff Notes version:
Start with a cold engine.
Turn on ignition switch and make sure that every accessory is turned OFF. AC,radio,all lights, everything.
Turn off ignition switch
Disconnect the negative battery cable for 5 minutes.
Re connect cable
DO NOT TOUCH THROTTLE. Turn ignition switch on for 2 seconds, then start car.
Let it idle with all accessories turned off.
In about 10-15 minutes,in 70-80 degree weather, the radiator cooling fans will cycle. After the second cycle let idle an additional 10 minutes.
The fans will cycle some more during this additional 10 minutes.
Switch off engine. Reset radio and driver AUTO window.