Long exposure. Pre-focus at infinity.
Now if you don’t want star trails, depending on focal length you are looking at a 15-20 second exposure. Longer if you have a super wide lens (under 20mm). You’re going to need to raise the ISO to get a proper exposure. Depending on your camera, you may have a lot of noise. To get rid of that there are some great techniques using 5-7 frames and some tricks in photoshop that work will. I actually teach a workshop on night photography.
Use a tripod, use a delay timer to get rid of shake, and mirror lock-up.