Hi there.
Seeing as though this is more a beginner's question, please use the appropriate subforum to post in in future.
It depends what effect you want to create: time lapse blurring of lights, or action-stopping shot; and whether you want to expose for the background also.
Best place to start would be to switch to Av mode, select an aperture of about f/5.6, try an ISO of 400 and an EV of +1, and seew what you get. This is by no means an authoritative series of settings for your scene, just something to try out without having seen what you want to capture.
Check the EXIF of these images for example: