I have a 96 camry I just purchased with 40k on it. When you are at a stop light in drive you feel a vibration coming through the steering wheel and brake and gas pedals shift to neutral it seems to smooth out. Called Toyota dealership they said this was common for this model. Anyone else have this problem and if so, what can be done or what is causing this to happen.

Bad motor mounts can cause that kind of vibration. I had a couple bad mounts on my 96 Camry and had the same symptoms until they were replaced.

This is absolutely normal. My mom skided on ice once and she slamed onto the curb and the wheels, steering, and brakes got damaged. The car SHAKED a lot until we got it fixed. The small vibration is probably the gear and the engine working together causing a vibration. In "N" the engine doesn't have to move so I think that's why it doesn't shake.
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1996 Toyota Camry XLE V6
2004 Toyota Sienna XLE Limited AWD

I have the same problem on my 95 with 113K. I have read several people have the same problem.
So I assume it is normal. If you feel it is annoying why not just shift to N?

All the transverse-mounted 4 cylinder engines I have owned vibrated somewhat in gear with the brake on. If it is much worse than normal, then there is something wrong. If nothing has changed in how it feels, don't worry about it.