Your zoom has a variable aperture. The aperture is the part that opens and closes inside the lens to let in more or less light. More expensive lenses have a bigger apertures, making them better in low light.
In a variable aperture lens, the largest available aperture is smaller and smaller the more you zoom in. So at a wider length (less zoomed in) you get a larger aperture letting in more light. So in these situations, it is better to not zoom in as much, but shoot on the highest quality setting, then just crop down as needed.
The ISO is the light sensitivity setting on your camera. The higher the ISO, the more light sensitive it is, but the more noise (grainy quality) your photos will have.
Your goal here is to get your shutter speed up. Your camera tried to compensate for the low light by leaving the shutter open longer. That is how you got a blurry photo. With a higher ISO and a larger aperture, your camera will have better light available, so can have a faster shutter speed.
Keep reading "Understanding Exposure". It should pull it all together for you.