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Unfortunately it's one of my old shots and i can't remember what i used for taking this shot. Timing is important. Sky gradually darkens after sunset, I don't know the exact time, but about an hour after sunset, it's good time for this kind of shot, so the overall exposure of the sky and the city (including the lights) matches each other. You can also use exposure bracketing, so you end up with say 2 images, one exposed to show the details of sky, one for city and the lights, then using a software like photoshop, merging the two and resulting in a photo that has both sky and city with appropriate exposure.

Finally... i found the original photos, That photo (photo in the post) is a HDR consist of three photos with different exposure time (1/40s, 1/13s and 1/3s) it was taken about an hour before sunrise.
And this is the one with 1/13s exposure time and edited with Adobe camera raw, just now.
IMG_0167_Edited_RS.JPG

As you can see, because the sky was not too dark or too bright, taking only one shot with proper exposure was enough, but back then i was not as experienced as now.
As far as i can remember, i didn't use tripod.

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