Yes, this is normal. As an engine warms up, pressure builds in the system and the radiator cap is designed to hold back the pressure to about 14 psi before it allows any coolant to pass to or from the overflow tank.
If the engine is BONE COLD then it will not overflow at an idle. If the motor is bone cold, them remove the rad. cap and fire it up. The coolant should not do anything for about the first 2 mins, and then it will start to rise and overflow out the radiator as the engine is begining to warm up.