The best way to expose for light trails is (IMO of course):
Compose the shot
Set the camera to a HIGH ISO (ISO3200 or higher) and wide open and take the shot - you basically want a quick shutter speed so you can see if the composition and focus is correct, ignore trying to get trails at the moment, that comes later.
Once you get a shot which exposes the foreground to what you want (this is the most important bit, expose for the foreground) work backwards from your correct exposure to a much lower ISO and longer shutter speed (that is what you want to play with, length of exposure, could be anything from a second to hours depending what you're shooting and the effect you want). To do this you'll want to play with the aperture and possibly stick an ND filter in front. Personally I'd aim for a fairly fast aperture, say f/4-f/8, the sweet spot for most lenses.
Take the actual shot and see if everything is correct and to your liking.
With this technique its very useful to remember the connection between shutter speed, ISO and aperture.
EDIT: and I meant soft rather than sort earlier... As in low apertures like f/16 and f/22 usually result in diffraction with lenses and lots of softness.