I use a Nikon D3100 DSLR for video shoots good quality HD although rather pricey. I've heard good things about the Canon T2I Rebel for shooting video with although still pricey.
If you can pickup a good lens (F1.8-2) then lowlight shooting shouldnt be a problem, a handy item to have is a multiple LED light often 32-64 LEDs in the light. Fits on top of the camera and lights up what you are shooting.
A setup like this is fine if you have money to spend, but I think with todays technology most of the HD Camcorders perform well.
Theres a link to my youtube channel in my sig that you can checkout to see the quality of the D3100.