Put the camera on a tripod and Turn SteadyShot OFF
ISO to 100
Manual exposure mode, set the shutter speed to 30 seconds or less.
Focus-lock on your subject and switch to manual focus mode.
If you’re shooting streets lit with mercury vapor lamps, set the white balance to “Fluorescent”. If your scene is lit with normal light bulbs, set the white balance to “Incandescent”. If you’re not sure, use Auto White Balance or shoot RAW and find the right color balance later on your computer.
Set the f/stop to something medium, like f/5.6.
For lowest noise, try enabling Multi-Frame Noise Reduction (in the ISO menu) at ISO 100 (the lowest fixed value you can set).
If you're shooting for longer than 30 seconds, set the shutter speed to "Bulb" and use either a wired cable release (RM-VPR1), an infrared remote commander, or the free "touchless shutter release" app to start and stop the exposure.
Start with a 30-second exposure, look at the results, and tweak your exposure from there.
