The soreness you feel after a hard workout is called DOMS (Delayed Onset Muscle Soreness). Hard workouts result in microscopic tears in the muscle fibers (this is actually a good thing). Over the next several days, your body works to repair those tears... the soreness you feel is the result of your body working to repair the tears and the result is that the mucle fibers end up stronger than previously. This is what leads to strength/size gains.
There are some things you can do to lessen the effects, but you probably won't ever completely eliminate it. As mentioned previously... stretch! Both before and after your workout. Drinking plenty of water will help and some say that consuming a good mix of carbs & proteins within an hour of the end of your workout will help as well. I have found from personal experience that when I'm on a creatine cycle, the soreness doesn't hit as badly. Hope this helps
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