If the throttle isn't stuck open (as mentioned above), check the TPS or throttle position sensor. It is a sensor on the throttle body that monitors how open the throttle is, and adjusts ignition timing and fuel timing. In short, when the TPS fails, one symptom is a high RPM idle at start up. I'd know, because my brother has an '89 Cherokee with a bad TPS, and the idle is around 2,500 RPM at startup, but he doesn't seem to mind... Spend the $50 and replace it, it will be worth it.