If other things vibrate as well as the steering wheel you might have a damaged motor/transmission mount.
A car's steering wheel will vibrate when driving if the car's alignment needs to be adjusted.
get a wheel alignment
Check pLugs and wires and the vibration my be from brake pads or warped rotors
the motor mount is bad
Normally it is a tire out of balance. Can also be a bent wheel.
You possibly have warped brake rotors on the front. Or Bad Wheel Bearings.
could be a blockage in your fuel lines.
Normally this is caused by a tire out of balance or a bent wheel.
The power steering system works on high pressure and at idle the pump does not turn fast enough to provide full assist. It requires a higher engine rpm.
Sounds like a bad engine mount. Steel against SteelIt will be hard to find, must look REAL......CLOSE