When you disconnected the battery you erased the learned idle settings. The engine will not idle well until it relearns the correct throttle positions and settings. That normally takes a couple drives. One thing you may want to do as it needs to relearn anyway, disconnect the battery and do a throttle body and idle air control cleaning. They get built up with carbon and dirt and cause the idle learn to take longer.
This is not your vehicle but it gives you an idea of how the job goes.
https://www.2carpros.com/articles/throttle-actuator-service
You could search YouTube for, 1999 Acura TL 3.2 idle air control valve (iacv) and see a video on the process.
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Wednesday, January 17th, 2018 AT 5:43 PM