well, you've got the ISO jacked up to about as much as you can w/o losing image quality. The exif states that you were already at 1600. Your aperture was at 5.6 on both so I'm going to guess that's as wide as it will go and maybe you were on a kit lens? Both were at 42mm though, so it seems that you should've had another stop or two to open it up, but only you know the answer to that. You were shooting in aperture priority though, so you may have another couple of stops that you could open up the aperture to let more light in maybe. Your choices for better light is to either get a faster lens like a 50mm prime maybe with a max aperture of 1.8 or better yet 1.4 or to use a nice flash. Looks like your white balance was off in both of these as well.
Either will allow for a lower ISO which will result in less noise.