Normally this is caused by a tire out of balance or a bent wheel.
A car's steering wheel will vibrate when driving if the car's alignment needs to be adjusted.
the motor mount is bad
Normally it is a tire out of balance. Can also be a bent wheel.
Your car needs an alignment. Typically around $100 or less.
Maybe there is something wrong with your car, you should get it checked out.
If other things vibrate as well as the steering wheel you might have a damaged motor/transmission mount.
Cars vibrate.
Check your power steering fliud, if it is low this could cause the vibration you are feeling.
I have the same problem with my '91 Dodge Caravan -- it is probably the transmission.
check yr stabilizer bush
Check pLugs and wires and the vibration my be from brake pads or warped rotors
That means something in the car is not adjusted properly - something loose, perhaps. Have it checked by a mechanic.