Durango keeps stalling.main guesses have been electrical, cleaning the tranny?

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Hi There! My name is Kaelyn and I drive a 2001 Dodge Durango. Normally I let my car warm up first before driving it, unfortunately I did not today. As soon as I drove off the check engine light came on and the truck kept stalling all day. It only stalls when im at a stop sign and my foot is not also on the gas pedal as well as the brake. I had AutoZone run a diagnostic on the truck and the only code that popped up was P0121. It said the sensor did not "agree" with MAP. How do I get my truck to change its mind... -.-?