Does it have an alternator, or a dynamo?
Dynamos' are notoriously poor at providing charge at low revs, the kind of scenario you are talking about.
That's why alternators took over, consistent voltage at all revs via the voltage regulator. Dynamos' can't supply enough volts at low revs.
If you do have an alternator then you should see between 13.5v and 14.5v at tickover which will drop with things like lights and heater motor on but still see around 13v all simply measured across the battery terminals.
A dynamo voltage will drop significantly at tickover, normal for what they are I'm afraid.