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Letting your car idle isn't actively bad for the drive train, but it certainly does put strain on the engine, additionally engaging the AC will put the engine under load, and work the engine harder even though you're not driving anywhere.
Take it to a mechanic and find out why the idle is off. There can be multiple reasons. Electrical parts wearing out is common - bad plugs, bad ignition coils, bad battery, bad alternator, bad plugs, bad plug wires, etc. ad nauseum. Fuel system problems are also a common cause of this - bad fuel pump, clogged lines, clogged filter, bad gas (fresh gas and a gas treatment will fix that). If this happens after the car warms up then it could be a couple of different things that are also fairly common - overheating due to cooling system problems, or malfunctions in the cold start warm-up system (my RX-7 had that issue for a while). There's a million things that can cause the engine to fail to maintain idle.