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in low light, if you have a camera that handles ISO well, you'll get little grain.
however, not a lot of cameras are built to take high ISO like the pro cameras, so your best solution is to bring a tripod with you and do longer exposures.
if you're having issues focusing, find a sharp edge to an object and use your center focus point (canon) to focus on, then move back to where you want to be shooting.
also closing down the aperture will help any sharpness issues once properly focused.
some lenses allow you do do a focus, but allow you to fine tune the focus, so depending what equipment you have, this may also be an option in low light for you.
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