2001 volkswagen vr6 shaking?

[NikkyMyrtle]

I have a 2001 volkswagen vr6, my check engine light has been on for a while, but when I got it read, they said that it was just an O2 sensor that did not need to be replaced and would cause no problems. I recently had problems with it where when I would come to a complete stop, my car would shake, and then once I started going the check engine light would flash.. Once I get going, my car runs perfectly fine, but as I slow down or stop, it shakes.. What could be possible causes for this? Is this a sign that my engine is failing, because I think that VWs are known for their engines failing.