Hi there, meghanbg!
Thanks for reaching out to the Apple Support Communities! It sounds like you have an issue with Do Not Disturb While Driving activating while you are not driving. First, follow these steps to Restart your iPhone as well as this steps here to Update your iPhone, iPad, or iPod touch and be sure your iPad has the latest software version.
If you are up to date, did you do the update through the device or a computer? When did you first notice the issue? Does the notification come up if you turn off Do Not Disturn While Driving completely?
Let us know the results and have a great day!