High idle is fairly common with the early Rockets, mine included. First make sure you have the correct tune for your set up. There was a recall due to idle issues, so make sure your bike has had the idle upgrade. Do a search.
Make sure all your electrical connections are good, battery, ground cable, etc. Clean up the connection point where the positive cable attaches to the starter and also where the ground cable attaches to the frame.
Clean the Crank Angle Sensor. This is important. That little bugger has been the cause of many performance issues. It is easy to do, takes about five minutes. Do a search.
Check the main fuse. There is a high load on it and it can melt. Do a search for main fuse, or melted main fuse. Even if it looks good, change it out and see if that helps. Recently my bike was running like **** and all I did was change out the main fuse to fix it.
Lubricate the throttle cables and especially the linkage.
Lubricate the idle stepper motor.
If none of the above help, then it could be the TPS, or your idle stepper motor is shot.