I have gotten pretty good at taking pics at gigs. Mess around with the shutter speed and apperture, practice by taking pics of your tv on, in the dark. You need to keep a really steady hand, most blurry photos are down to your movement, so tuck your elbows in and use the view finder not the lcd cause you can put the camera against your face to steady it. Low lighting means you nead to use a low shutter speed. Open the apperture as wide as it will go, something like f2.8 on yours. Zooming effects apperture so the less of that the better. If you have to, increase shutter speed. Never focus on anything especially light or dark.
3.2 mega pixels is fine, but they might come out a bit grainy. If they do sharpen them in photoshop after.
these 2 were in dark conditions
http://i35.photobucket.com/albums/d178/goodsou lette/PICT14933.jpg
http://i35.photobucket.com/albums/d178/goodsou lette/PICT14981.jpg
and here there was lots of different lighting
http://i35.photobucket.com/albums/d178/goodsou lette/Jamesbath-2.jpg
obviously im no expert but steady hand is the key and lighting is your focus.