Those were taken with an exposure time of about 1/5-1/6 sec. At that speed, you need to use a tripod. If you don't want to use a tripod, add light with a flash. If that's not an option either, there's not much you can do. But you ultimately need to collect more light from the scene. If you do it over a longer period of time (longer than 1/60 sec. or so) you're going to shake, hence a tripod. If you want to add light (open the window blind, use a flash, or use extra lights) you can use a shorter exposure, and have less shake.