Supposedly for full frame you divide 600 by your focal length to get the longest shutter speed you can use without the stars being motion blurred. For APS-C you divide 400 by your focal length.
Then adjust your aperture and ISO for exposure.
So for example if I use a 40D which has an APS-C sensor with a 17-85mm lens set to 17mm I do this:
400/17 = 23.5
So I should be safe using a shutter speed that's 23 seconds or faster before I start getting blurred stars.
Manually focusing using the zoom function in live view is probably the best way to focus if you can find something in the frame that you can see.
To avoid getting any blur from activating the shutter and mirror you can use mirror lock up and either use a remote shutter release or use the timer mode on your camera.
Flicking through my shots I've got one** that's 2", f/2.8, ISO 800 which is maybe a little bit underexposed so something like 10", f/5.6, ISO 800 might be a good place to start.
**I used the stars from that shot in making
this composite, you can look at the top part of that image (the stars) to get an idea of what exposure I was getting with 2", f/2.8, ISO 800.