On a gas engine you can pull the governor out and grind some material off of the weights. Stretch the spring on the throttle rod also helps.
On a diesel there is likely an outside spring also.
 
On the diesel, there are bolts with lock nuts on both sides of the throttle shaft on the pump where the linkage hooks on. The front bolt controls low idle speed and the back bolt limits the high idle. Just back the bolt off until you reach the desired RPM and then lock it down by tightening the the nut. On the gas, I'd play around with the spring before messing with those governor weights. Too many times I've heard it gone wrong and the engine surges constantly.
 

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