Revs issue

cardio

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I wondered if anyone could help, I have a 2006 audi a3 170tdi, I noticed the other day that when I came to a stop the car was revving at about 1000 revs, as I was stationary I revved the engine thinking maybe it was slightly stuck or something, it's then when I noticed the problem, as the car was in neutral it revved fine, the moment I popped the clutch down but still in neutral the car would only rev to about 3000 revs, as I drove off I did throttle it slightly and the car drove like it always has done, is this issue normal or is there a fault somewhere???
 
Seems like it was in regen mode, idles higher than normal. As for 3k rev, with esp on and with clutch down and a gear selected itll stay at 3k. Esp off will allow u to rev up fully. Its all normal by the sounds of it