I agree with Kevin, that's an excellent place to start.
Depending on your lenses anywhere from 8 - 30 seconds, lens et to f/4.0 should get you some results.
Although it's not entirely needed what will make life sooo much easier is a remote shutter cord and a cheap tripod.
You can set your camera on delay to take the picture a few seconds after you have pressed the shutter if you like, it will get you started anyway until you can get a remote shutter but it is important to eliminate any type of shake in the image.
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