Is this a totally random occurence or was something recently changed?
If its random, I wouldn't doubt that a vacuum leak has developed. Check all the hoses behind and underneath the upper intake, and on the driver's side vacuum tree. Spray some carb cleaner around the hoses, if the idle changes when you spary at a particular spot, you've found your leak.
If all of this fails, do a search on here for setting the idle. There are plenty of good write-ups on how to do it properly.