You can increase the ISO, that will increase the sensors sensitivity to light. However, this will cause the picture to look grainy and not as good. You can then adjust you shutter to be faster for a less blurry picture.
The best solution for this problem is to get a lens that is better suited for indoor use (I assume you are indoor). A lens with a wider aperture (low f number) will allow more light in. Therefore you will be able to speed up the shutter and have clearer pictures then with your kit lens.
edit: the exposure is what is important here. It's a combination of how much light per time (aperture) gets to the sensor and how long the sensor is exposed to light (shutter speed). Your kit lens aperture does not open wide enough to have a reasonably fast shutter speed in low light.
The ISO setting will compensate by electronically boosting the signal. This process causes grainy pictures especially in entry level DSLRs.
Get a prime lens (fixed focal length), with a large aperture if you like taking pictures inside.
