I assume you're using the EXS24 for this. You'll need to know how the matrix works on the EXS24 parameters page.
You want to change pitch so, in the second column of the matrix (the first will say "S.Select" at the top so leave that alone), you need to set destination to Pitch. in other words, whatever modulation you provide will affect pitch, not filter etc.
Next, you need to say that the source is LFO1 (more on that in a mo).
Finally, set Via to Ctrl #1, the mod wheel or, in Hyper Editor Modulation.
So, what's happening now is that the source (LFO 1) is sending a signal via the mod wheel (controller 1) to alter pitch. As you move the mod wheel up and down (or draw it in Hyper Edit), the amount of LFO being passed to the pitch shifter is changed.
OK, just to the right of the Via section, you should now see two little triangles. The green one controls the amount of vibrato, regardless of what's happening with the mod wheel. If you have music that always has vibrato, bring that down from the centre position (centre = 0). Think of this as LFO depth - how deep a vibrato you want.
The orange triangle controls what depth is applied as you use the Mod Wheel. So, if you want to control it yourself set the green triangle to 0 and automated the orange one.
On to LFO 1. There are two controls. The left hand one controls decay/delay. You might set this to a delay of about 150 ms, since fast notes wouldn't then get any vibrato. Slower notes would, after 150ms. The normal speed for a vibrato is about 4 or 5 cycles per second and you set this on the right hand LFO 1 knob (Rate).
If you're not using the EXS24, then you're probably using one of the garageband or Jam Pack instruments and you should change to EXS24 since all the controls I've talked about are only available with EXS24.
That's about it. Should work for you...
Pete