Idle speed is too low. There are also some throttle pressure adjustments that you can make. Tim has pointed you the right direction with the service info link.

The engine will not idle in the 1-2 range. It is normal for that gear to drag it down. That gear is strictly for dropping into while trying to "get out of trouble". The service manual will pretty much say the same thing. It should idle in 1-4,1-3,N, and R though.