I turn my car on and it is fine..The only time it shakes is in Drive and only while idle.. When I put it in neutral, reverse, or park from drive it stops shaking. Anyone know what could be wrong, and if it is hard to fix myself or do I need to take it to a mechanic?

 

I would suggest replacing theengine motor mounts as this is likely the issue.

 

I had similar issue. Just to tell that mine shaked in Parking (P) as well.
I took it to dealer, 650 $ was penalty
Dealership told I had some burnt wires...