Perfectly normal. Indoors there's much less light than there is under the sun. One way to compensate for this is to use the flash. This is limited in range, and will not work well if you have two (or more) subjects at different ranges.
Another way to compensate is to leave the shutter open longer to collect more light. This causes blurring if the subject is moving. It can also lead to blurring if the camera is moving, as it inevitably will if you're holding it in your hand.
Another way is to open up the aperture, letting in more light. Some exposure modes favor this, while others do the opposite. A related method is to use a faster lens, if your camera accepts interchangeable lenses. Since you didn't bother to specify the make and model of your camera, I can't tell you what modes you may have available, or any lens choices.
Another possible way to compensate is to increase the ISO sensitivity, so that the image can be made with less light. Again, without knowing what camera you have, I can't give you much details.
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