i have a 2000 Ford Expedition, min did the same thing....twice. first time had a bad O2 sensor replaced that ran fine. second time was plugs Would help to know make and model of vehicle. But the most likely cause is an engine miss due to a bad plug wire or plug or a dead cylinder [no compression]. Other causes could be a vacuum leak or the fuel/air mixture may be way off. The engine is still missing at higher speeds you just don't notice it as the higher engine speed simply covers it up. This is why engine misses are usually diagnosed only at idle or under load while the vehicle is stationary. bestalucktoyou Check passenger side motor mount. A bad one will make the car vibrate at idle. The car very much may be out of time. At higher engine speeds you will not notice it. If you recently had the timing belt done or your timing belt jumped, would cause this. But first try a tune up.
Yes, when idling and driving.
spark plug gap Can also be a vacuum leak.
The engine is not hitting on all cylinders or the distributor (electronic or manual) needs adjustment.
Sounds like a misfire caused by electric supply to plugs.
Loose motor mounts.
Maybe its your motor mounts.
A miss or A collapsed engine mount or A imbalance caused by a failing component, harmonic balancers and torque converters are common.
Maybe engine misfire.
A clogged muffler can.
It might be a broken motor mount or transmission mount.
The "check engine" light should be illuminated. Start with investigating the code(s). They may lead you to the cause.
Because even when its just idling, there are 100 small explosions every second inside of it with a powerful heavy metal crankshaft rotating 1500 times per minute. You could have a bad engine mount.