Just because muscle pain doesn't require a doctor doesn't mean it can't hurt like hell. But there are ways to help ourselves.
After a good workout you'd much rather recline on sofa than keep moving. But in fact, moving sore muscles through their ranges of motion will significantly reduce soreness. Moving the muscles will increase blood and oxygen circulation helping to rid them of inflammatory chemicals and promote healing.
Mild to moderate exercise can increase the production of hormones in the brain-beta-endorphins that act as natural painkillers.
To prevent muscles soreness, ice your most vulnerable muscles for 20 min right after an intense workout. Repeat two to three times a day for the next 3 days. To avoid freezer burns, wrap ice in a thin, wet towel. Don't wait untill the next day because it won't help otherwise.
Be careful and good luck!