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If it only happens stopped, in gear, and the check engine light isn't on, it doesn't sound like it is a malfunction. However, anything is possible.
Based on that, the first thing I suggest checking are the motor mounts. If you have a collapsed engine or transmission mount, you will feel it under the conditions you mentioned and not necessarily in neutral or while driving.
First, take a look through this link. It discusses the most common causes of a misfire at idle or a vibration at idle. See if anything is helpful.
Here is a link that discusses how a motor mount works:
Let me know if any of this helps or if you have other questions. Also, make sure something like the exhaust isn't touching the underside of the vehicle when you feel the vibration.
Monday, March 18th, 2019 AT 8:14 PM