It is a common problem with the ES and RXand Camry,they all share the same engine and the idle control pin gets stuck and need to be either replaced or cleand because it is getting stuck with carbon.If it happens again and you need to drive the car.
Eitehr warm it up by holding the gas pedal down.
Or unplug a hose located just above the throlttle body which will cause a slow increase in rpm's
Basically the pin is not moving back into cold start position and causeing the motor to stave for air causing it to be too rich and die.
Unpluggint eh vacum hose cause the pin to speed up the pressue andmove back to normal .
It usually takes atleast 2 hours depending on how bad the pin is stuck ,to get back to cold position.