cat has a service bulletin out on this code
it is related to what edward talks about with the pedal stop screws and also checking the pedal position sensor voltages

first i would check the pedal linkage and make sure the stop screws have not been tampered with, make sure they are not loose or broken.

then you can do the released pedal released learn by doing the following:
1) Turn key switch to the ON position and count out 2 seconds.
2) Turn the key switch OFF and count out 10 to 12 seconds.
3) Turn the key switch ON and count out 2 seconds.
4) This learn is completed. You may key off now.

then of course if the code is still present you will have to check the voltages on the pedal sensor:
key on (engine stopped)pedal fully depressed:
sensor1: 4.2v (terminal 106)
sensor2: 2v (terminal 98)

key on (engine stopped) pedal fully released
sensor1: 0.6v (terminal 106)
sensor2: 0.3v (terminal 98)

if you verify that the pedal sensor is out of range, replace the sensor, set the voltages to the above settings and the code should go away. If it does not go away then do the pedal dance as edward described and clear the code.
If the code is still persistant then you have bigger problems and will need to do more extensive troubleshooting to locate the source of the issue.

good luck