I am going to echo what has been said above!
High ISO does allow you to compensate for low light, but the higher ISO you use, the more grain or noise you introduce into the photograph. It is a trade off (sacrificing quality for the ability to shoot the photo).
When shooting scenes like this, here's some tips to get you started:
1) Use a tripod. Can't stress that enough. The shutter speed for a correct exposure is going to be too long for hand holding (even with VR you won't be able to decently handhold below 1/15 or so usually).
2) Set your camera to Aperture Priority (A) mode.
3) Set your ISO to 100 for the cleanest image. You don't need to worry about the amount of light because you aren't hand holding.
4) Now that the camera is up on a tripod, you're in A mode, and your ISO is 100, set your aperture to a decent one for detail throughout your scene. Somewhere between f/8 and f/22 is fine. The camera will pick an appropriate shutter speed.
5) Use the timer to trip the shutter, rather than you pushing the button down yourself (this shakes the camera).
Enjoy!