I was actually taught in my driving test specifically not to do this - the engine will only stall if you come to almost a complete halt and then try to pull off, otherwise being at lower revs isn't a problem. According to my driving instructor, driving in a higher gear than the speed needs (e.g. 4th or 5th gear for 30mph) actually means the car uses less petrol because you're using less revs... thereby saving both money and the environment, hurrah. Also sparing the gears on the car.
Often when I'm slowing down to a junction I just disengage the gears completely and coast in on the clutch.
Of course if you want to pull away, manoeuvre or suddenly accelerate you then have to change, but if you're just driving along normally and aren't intent on overtaking people, then that's how they teach it now... or at least when I did my test in 2009!