You are trying to shoot in one of the toughest condition imaginable. Low-light and action are the most demanding, so keep in mind that you need to set expectations and shoot tons of images to get some to work out.
What you need first is a fast shutter-speed. In order to get that in low-light, you need to select a high sensitivity. I therefore suggest you select the highest ISO which is acceptable to you, say 3200 or even 6400. Yes, it gets noisy but you do not have much to work with.
Then select a fast shutter-speed by entering Shutter-Priority mode (S on the mode-dial) and dialing the control-dial. You will need at least 1/500s if not more. If you dial in something, say 1/2000s, and you see the aperture flashing in the viewfinder, you have reached the limit of your lens.
If this is important to you, I highly recommend you get a bright lens for it. They are expensive to buy but can be rented for $50 or so per day or weekend. Something like a Nikkor AF-S 70-200mm F/2.8 should be available everywhere and let in 4 times more light than a kit-lens at the end of the zoom.
To improve your odds, set the camera to continuous drive so that when you press the shutter, it captures a burst of images. It will do so at 4 FPS which is kind of slow for fast movement but better than nothing. Use the fastest memory card you have, otherwise the camera will lockup for a long time between bursts.
If that is still not enough, it is time to get a better camera. Should this be a rare event, go ahead and rent one too but rent it a day or two before. Using a lens on a camera you know is easy but using an unfamiliar one requires way more practice, so shoot as much as you fast action in low-light the day before and remember to recharge the battery over-night before the recital.