To minimise noise get as much light down the lens as you can. As you have a static subject using a longer exposure is probably the best option. Setting the ISO to the minimum value will help you let in more light. Select the aperture based on sharpness, I'd go for something in the middle like f/5.6
For the ultimate noise reduction, consider taking multiple shots and then averaging in software. See:
Here several short noisy exposures were combined to match the noise of single exposure with more light. However the methodology can be applied to several longer ISO100 exposures to further reduce noise!
Here's an example:
The top section was a 1 second exposure with a really small aperture so quite noisy. Averaging 16 such photos in Photoshop resulted in the middle section, with much reduced noise. The bottom image, for comparison was the result of a single long exposure.
The last image was shot at ISO100 so I couldn't use a longer exposure without overexposing and clipping highlights (I could have closed the aperture further but that wouldn't have allowed any extra light into the camera). By combining several ISO100 shots of this length I can increase the amount of light, effectively simulating the result of using an ISO setting lower than the camera could ordinarily produce.
A standard piece of advice for minimising noise to "expose to the right". This means place the histogram as far to the right (highlight) end of the scale as possible, without overexposing.
An article was posted in the comments to chills42's answer which claims:
"Expose to the Right" is just plain wrong
Here is the article
I repeated the high ISO part of the experiment with a Canon DSLR instead of the G10 compact, and most importantly I turned off noise reduction (the author let the G10 do it's own thing with noise reduction, with no attempt to keep it consistent).
The part I wanted to specifically test was the claim that by reducing ISO alone you could reduce noise equivalent to exposing to the right. I wanted to test this because this goes against both the theory of how noise originates and all my experience.
Here is a close up of a photo of a colour checker chart, 1/10s f/5.6 ISO1600 :
And here is the result of reducing the ISO to 800 whilst keeping the other settings the same (1/10s f/5.6 ISO800):
It looks similar, but there's ever so slightly more noise (see the composites at the end).
Finally here is the result of exposing to the right, 1/5s f/5.6 ISO1600
A clear reduction in noise results. Here are the same images, presented in the same way as the chromasoft article. Firstly the camera metered exposure with the lower ISO image offset in the centre:
Finally, the camera metered exposure with the expose to the right in the centre:
Finally the article does have some useful things to say about exposing to the right causing problems with colours (you get loss of saturation as you approach the limit of the sensors saturation point). But on noise it is demonstrably wrong.