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.
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
That means something in the car is not adjusted properly - something loose, perhaps. Have it checked by a mechanic.
Check pLugs and wires and the vibration my be from brake pads or warped rotors
Cars vibrate.