Don't understand it wrong. With my approach you will need a tripod or another fixed object mostly even more!
In dark cities you can easly go over 10 sekonds of exposure time. At very dark situateions my exposuretime goes over 30 sekonds which will require me to either use BULB exposre or to adjust my aperture or ISO.
If you want to go handheld you will have to adjust this approach, but you will be dissapointed with the Image Quality!
1. Select Apterture Priority
2. Open the Aperture as much as possible
3. If possible turn on AntiShake or Image Stabilization
3. Increase the ISO Setting untill you reach exposure times which are fast enough to avoid blur.
But be aware that at dark shots you will have to go up to or over ISO 800, 1600 or more! This will lead to an immense quality loss as your imges will become very grainy.
All in all it's defenelty more recommendet to find a steady place where you can put your camera. Be inventive!
Places I have put my camera on alreay:
Cars, Stones, my Bike, pilones, posts, trashcans, bridges,... I generally take my tripod only very rarely with me