Yes, for a manual regeneration you do bring it to idle, set brake, neutral, etc
This should only occur if for some reason the tractor was unable to complete an "active" (aka automatic, or passive) regen during normal operation. Normally, the "Regeneration Underway" light will come on when the ECU initiates an active regeneration based upon differential pressure across the DPF among other things. If for some reason the condition worsens it will give the "DPF Warning" light. At that point you are required to do a "parked" Manual regeneration. If you neglect to do that, or if for some reason it doesn't resolve the condition, it will go into limp mode. I think at some point it may require a visit from the dealer to do a forced regen and reset the ECU but I am not completely sure on that part.