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This paper describes a steady vibration of an engine supported by rubber and hydraulic mounts at a relatively low frequency range, assuming an engine is a rigid body. We identify dynamic characteristics of a hydraulic mount with respect to frequency and amplitude. The equation of motion is solved numerically by the Newton-Raphson method, treating the mount characteristics as functions of frequency and amplitude. The excitation test to simulate an engine shake and an idling vibration was performed using a mass block instead of an actual engine. During the engine shake, we observed that the amplitude dependency of hydraulic mounts strongly influences the vibration, while idling, we investigated rolling vibration especially for the case where the torque axis does not pass through the engine's center of gravity. The theoretical predictions agree closely with the experimental results in both engine shake and idling vibration tests.