I say no to pain, but feeling a burn the next day is great. The way I understand it, you build muscle by breaking it down during the workout. Your muscle gets stronger during the rest period between workouts because it rebuilds itself and this causes the burning. The muscle fibers during the rebuilding phase come back stronger because your body knows these muscles need to be stronger in order to endure the workload that you are putting it through.
so no to pain, but yes to a burn and to soreness.
of course, I could be completely wrong.
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