Are you doing the proper cool down/stretching exercises after your work out? This is absolutely essential after all exercise whether it's working out, running, speed walking etc to release the lactic acid as this is what causes the stiffness next day
You will hopefully find that you don't get as sore next time if it is mainly muscle ache. That is always worst the first time you try a next exercise or suddenly increase the intensity. This kind of muscle pain is pretty normal and not something to worry about. Here is a link that explains it a bit better:
I've found I might have really sore muscles the first time, but just 1 or 2 weeks later doing exactly the same routine at the gym does not give me any soreness the next day. E.g. the first time I did lunges with weights I could hardly walk all weekend, but the following week I did exactly the same as was fine afterwards! I always cool down and stretch and I also go for a swim after my gym workout, as I reckon that it helps reduce the chance of soreness.
As a disclaimer to all the above, if it feels more like joint pain then be careful not to overdo it and give yourself an injury.
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