most of them just look like its motion blur, your speed is too slow you don't need to be shottin gunder 1/60th of a second hand holding (now before everyone gets all upset by this its the general rule and there's a rather tricky mathmatical equation to the real rule and yes with practice you can improve this)
next take the meter guy in your camera and USE him. he's there for a reason. fiddle with all the dials until he's hanging out in the middle. then see what kind of exposeure you're gettng if you can't hand hold it, adjust both the speed and aperture until its back in the middle again. its like a level on a piece of wood. THEN you can decide if you want to go darker than average or lighter than average. (thats what the middle gives you...)
auto focus for the win. people think that auto focus is cheating. i dunno why. in this aspect that camera is better than my eye because my eyes suck. trust the auto focus.