Car won't stop vibrating

If you're stopped then the only thing that can cause you to feel a vibration is engine/tranny related. You can check on a Hyundai forum and see if this is a common issue, or if other drivers know of any TSBs on it. In the meantime you can check if your engine is running okay and not misfiring, or that all engine mounts are good - a lot of cars today have one mount that acts as a damper, a worn bushing could allow it to let unwanted engine vibrations through. Hmm, just googled your symptom and see several complaints online similar to yours, vibrations when stopped. Try a forum like: http://www.hyundaiperformance.com

If you have no lights on from engine then it isn't harmful, just annoying. If the idle was tweaked up a bit it would go away usually. Four cylinder cars have this more than other cars. I agree a forum of like cars would be your best bet for diagnosing.

I just left the dealer because my car was shaking when I stopped and jerked when I took off, after picking my car up from them with a replacement engine, I was told it is normal........

If engine is smooth running when stopped. Then maybe it is tire balance bad tire align. Or nuts on wheels are loose or bent rim on tire. If it is smooth and not shaking while idling and revs up smoothly I don't think it has to do with the engine.