Lots of things that could cause the symptoms you are describing.
Possibly overdue for a tune-up.
When put in gear the load may be dropping the idle speed enough to cause the vibration.
A bad plug or wire or a vacuum leak is enough to do it.
Loose exhaust hanger, pipe or heat shield.
Some part of exhaust close to or touching frame.
Physically damaged or plugged exhaust pipe, muffler or converter.
Seized fan clutch.
Loose bolts on transmission valve body will allow fluid under pressure to leak which will create a buzzing sound/vibration.
Motor and tranny mounts as others have said.
When in gear and making noise/vibration does it go away if you hold the brake and accelerate slightly?
Watch your tach and see if the RPM is dropping lower than it should be when in gear, this will tell you if your problem is engine related or elsewhere.
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