If you don't have the special tools...and the knowledge to read and understand the gauges...and a complete understanding of how the a/c system operates, I would highy recommend you take to to a reputable a/c shop. You could end up doing more harm than good.
Yes...the a/c temp can rise during idling. At idle, you don't get near the air across the condenser...even if the fan is operating properly. As a result, the R134A doesn't get cooled well enough to complete it's needed cycle of converting from a gas to a liquid. Once the car starts moving, the airflow becomes sufficient to properly cool the condenser. You can see what I mean by putting an a/c thermometer in the center dash vent, going to recirculated air, and turn the fan on high. While the car is idling (and after everything is warmed up) read the outlet temps. Then take your garden hose and spray a very fine mist across the condenser. You will get a noticable drop in duct temperature. You can do the same thing with a big fan in front of the car...which is why many shops do just that. The fan helps simulate the car driving down the road.
The last suggestion I can make to you is to check your fan operation. When the a/c is on, the fan should go to high regardless of engine temp. If not, you need to have that checked.