If maintenance is up to date and there is no other driveability issue, I would have to say it is normal. In gear there is more load put on the engine which can be felt in a manner as you describe. My cars have done it and there is no issue with them. Engine vibrations are hard to completely isolate from the rest of the vehicle. If you feel it is an issue take it to the dealer and have a tech go for a ride with you so, if there is an issue, it can be noticed before it gets worse.