95 saturn sl mising at idle but seems to run fine at higher rpms?

You did not mention how many miles are on the car but there is 2 things I would check first 1) pull a spark plug and check it if the electrode is round or the gap is much larger than the spec on the eng decal replace the plugs.and check the condition of the wire's the resistance should be 5 ohm's per foot of length
2) remove the large hose that goes from the air box to the throttle body on the intake manifold-if it is really dirty then it needs to be cleaned and the ( idle air speed motor ) will also be very dirty whick will cause a rough idle.