The most recent article I read on the subject said it doesn't hurt the muscles to work them when they are sore.
But you don't want to work the same muscle two days in a row, pick a different emphasis if it is the next day.
Doing some cardio will help remove some of the lactic acid that can cause soreness and your muscles will feel better once warmed up. Then stretch them out a little.
-------------- If you fall down seven times, get up eight.
Make sure that you do a ton of stretching. Not necessarily stretching too much for your muscles, just do it often. Try a little light stretching before your workout, then after your cool down stretch for a little longer for each muscle, like around 10-20 seconds per stretch.