How to do the Idle relearn procedure?

I replaced the idle air control valve because the car wouldn't stay started without giving gas when cold. It starts great now and idles normally until I shift into drive. When in drive the idle surges up and down erratically. I think I may need to do an idle relearn, but I am not sure how as there are many different instructions for this on the internet. I tried pulling the ECM fuse for about a minute, starting and letting car run in park for 5 minutes, putting foot on brake and sitting in drive for another 5 minutes, and check engine light came on and idling seemed to get worse.