Is your lens switched to A for Auto Focus and the VR to On? That, combined with sparky480's suggestion to crank up the ISO limit (or set the ISO to Auto) should yield a good shot in lower light levels. Since you are new to settings, I'd simply shoot in Auto until you gain some success and some smiles.
Too, as others have noted, test driving a new camera indoors is bound to lead to frustration.
Too, as others have noted, test driving a new camera indoors is bound to lead to frustration.
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