1999 Jeep Cherokee Won't start without giving gas; then sta

My 1999 Jeep Cherokee will usually not start without me giving it gas (when it's cold, especially). Once it starts in this manner, it will not hold an idle, so I have to manually idle it for ~5 minutes until it catches. Once I start driving, if I take my foot off the gas, the car stops running. I then have to repeat the procedure above; usually on the side of the road or at a stop sign.

If the car does start the first time without gas, there is no problem (no idling or driving issues). This seems like an intermittent problem, but one that happens the same way every time. Thanks for any help you can offer.