Make sure you cool down and stretch properly, that will help. Also, a nice soak in a warm bath with epsom salts will help, or hit the hot tub if you have one available. Do some light biking (5-10 min.) to remove the lactic acid and then stretch. You'll be pretty sore after the first few workouts until your body adjusts to the stress. It will go away after a while.
JR
JR