Toyota Repair: rough idle, rubber insulation, exhaust pipe

Question
94 Camry,auto trans,2.2 engine,150,000 miles. When in neutral the  engine idles great. As soon as I put my foot on the brake and put it in drive it starts to vibrate.If I keep my foot on the brake and slip it into neutral again the vibration goes away.  

Answer
Most likely a motor mount problem, most of the time the motor mount near the radiator collapses which also causes the "dog bone" link near the right front fender under the hood to break the rubber insulation, if this car has been in an accident there may be more serious problems, also check to see if the front exhaust pipe is not touching the body anywhere and is installed in the rubber hangers