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The most common causes to a problem like this is a bad motor mount, and of course, its usually the rear one that is the hardest to access.

The circumstances of the problem will help in its diagnosis.

(I'm assuming based on your title that the car is an automatic).

These are the things i would use to diagnose the problem.

1. To check on the motor mounts, you can try to shake the engine by hand (let the motor cool off a while so you don't burn yourself. If the motor rotates much front to back or side to side, you likely have a busted motor mount. Also, have a friend sit in the car with the brake applied and move the car from neutral to drive or reverse. A bad motor mount will be apparent by a much larger than normal movement of the engine.

2. If your engines RPM drop or fluctuate when you are stopped with the car in gear, it may be a vacuum related issue or related to you air conditioning. Does it happen with you Air conditioning both on and off? If only when its on, look there. You may need to service your AC compressor or belt. Your brake booster or other vacuum hoses may also be leaking, causing the engine to run roughly. You can usually see the brake booster hose is a larger black vacuum hose the goes from the brake booster on the firewall to the back on your intake manifold. You can Google all this for pictures, but if you aren't comfortable identifying these parts, you probably should get some help for the repair.

3. If it isn't one of these issues, it may be a more serious issue related either to your engine or your transmission. Engine vibrations you may not notice when the car isn't stopped, or a problem with your torque converter in your transmission could causes theses symptoms, but they would likely be more wide-spread (vibration at all times, or while driving)

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Q: Why would your car vibrate a lot when stopped and foot is on the brake?
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