No, she is merely exploring her body. Don't make a big fuss about it, she will probably stop of her own accord .
My 3 year old girl is touching her vagina. Is she getting sexually aroused at this young age?
Yes most certainly at 3 she can get aroused to a certain degree, though shes too young yet to know what this feeling is, just that it feels good if she touches/rubs herself there
Your daughter is just exploring her body. Don't be worried about it.