Is it 4-cylinder or V-6? Automatic tranny or manual? These things matter...

If it's a 4-cyl automatic shift into N & tell us if it still vibrates like that. Automatic tranny cars have a vacuum-operated rear engine mount that's supposed to make itself softer when idling in-gear.

Otherwise (whatever engine & tranny you have) what is the idle RPM? Should be 750 or 800 for a 4-cyl. If that's too low, then you can think about setting the "BASE" idle speed. There's a procedure for that - don't just crank on the idle stop or (worse yet) the throttle cable.