You don't just do a relearn thing with the pedal, you need an obd2 reader/writer that is capable of resetting the tps (Throttle Position Sensor). Holding the pedal for 5 minutes or until it warms up helps the car recognize the idle but it doesn't actually fix anything

 

I had the same issue on my car after I cleaned my throttle body, a foxwell NT510 elite for honda will have the thing you need to reset the sensor, might be able to rent it from a parts store or take the car to a mechanic who can do it for you.

 

Anytime you mess with the throttle body, clean it take it off etc your moving idle with be screwed up. I took mine off to fix something and put it back on and when driving and push the clutch in coming to a stop it would go from 1600 rpms down to 900 back up to 1600 and back down to 900 over and over again. I just kept driving the car so the car could learn the fuel trims and the issue went away which takes about a half tank to fuel tank of gas. A obd2 scanner tool should have a idle relearn on it otherwise honda charges 100$ to do it.