Your muscles are sore because of a build-up of acid due to anaerobic respiration in your muscle cells. The best way to release the acid is by doing very light exercise of the same muscles. Walking. Long stretches. Just warm the muscles up and move them around for awhile.
Doing stretches, taking a hot relaxing bath. The next day it would be good to take off exercise. I would exercise every other day. If you are not used to exercising then doing it everyday could strain muscles and slow progress down.