It sounds like you have a mechanical issue with the throttle cable, not actually a cruise control problem. The cruise system won't function at 20 mph, so something else is holding the throttle open. Look on the throttle body where the throttle cable attaches. There will be two quarter-round cable guides with two cables in them. One has come out of the slot and is wrapped over the side so it can't let the throttle release completely.
One of those cables goes to your accelerator pedal and the other one goes to the cruise control servo. When either cable pulls on the throttle, the other one needs something to keep it in its slot so it doesn't ride up like just happened. Check for a bent bracket or something misaligned. You can work the throttle by hand with the engine off to see if both cables sit back down in their slots when you release it.
SPONSORED LINKS
Wednesday, September 3rd, 2014 AT 3:24 PM