I had a similar problem with a ball that vibrates on the ground. This was caused by gravity, which pulls the game object to the ground, then it collides on the ground and bounces. If your problem is the same as mine, you need to either set up Fixed Timestep (Edit => Project settings => time), and / or Bounce Threshold (Edit => Project settings => Physics).
By increasing the failure threshold, you will increase the minimum speed below which the object will not bounce, so that gravity is not large enough so that the speed of the ball exceeds the failure threshold.
By decreasing the physical time step, you reduce the effect of gravity on each time step because the time steps are less, and therefore the amount of speed added to the game object for each time time is less.
EDIT: You can also see the speed of sleep (Edit => Project Settings => Physics), because if it is higher than the speed of gravity, the object should not vibrate.
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