94 3.4L V6 Rough Idle

I have a problem with the way my car idles when it is in gear and I am stopped. It seems like the engine idles very rough but it seems to be around the correct RPM about 800 or so. Any ideas on how to fix it?

Well ill assume it does this when the engine is hot? Like right after you drive it? If so:

Check the PCV Valve for proper operation by placing your finger over the opening (while running). You should feel vacuum on your finger however when released the valve should snap shut. If it hisses at all, replace it. Also, remove the valve from the tube an shake it. It should rattle like there is a loose marble inside. If it doesn't rattle, replace it.

Check the canister purge and vent system. It should NOT apply vacuum to the system at idle. There are many types of control systems for this device however if you remove the hose labeled "tank" and feel vacuum at the port during idle then you need to service the system and probably replace the control valve. If that is the cause, blocking the "tank" port will stop the rough idle.
Check the spark plugs for proper gap.
Run a cylinder compression test.
Check the ignition timing. See the Vehicle Emission Control label for information.

Check the exhaust system for restriction or blockage. A clogged catalytic converter will cause high speed as well as idle problems.

Just go here http://www.misterfixit.com/ruffidle.htm

good luck