your rotors on the front are warped. they need to be turned or replaced.
Have the front rotors turned on a lathe at a dealership. check brakes and rotors
A car's steering wheel will vibrate when driving if the car's alignment needs to be adjusted.
is this 4 wheel drive
get a wheel alignment
the motor mount is bad
This is usually a symptom of excessive run-out (warped) on front brake rotor or rotors.
Warpped rotor. rotors are warped have them checked and turned or replaced. they should be turned after every brake change
It is the engine that is vibrating and it is just being felt in the steering wheel. Can be a vacuum leak, or miss in the engine.
Normally it is a tire out of balance. Can also be a bent wheel.
bad front brakes.