Try foam rolling...
When I get sore muscles I usually stretch....isn't that what we have all done? Well...sometimes stretching is not enough. During my workout on Friday I did some one-leg deadlifts with a heavy kettlebell and that evening I could feel the soreness kicking in. I knew this weekend was going to be filled with some "ooowww" moments when I sat down or bent over. I decided to start foam rolling that night before the soreness reached its peak. I did about 10 minutes each night and it reduced the soreness by 75%. I won't lie....foam rolling doesn't feel great...but the effects are worth the discomfort. It is like a deep tissue massage. Hurts so bad but afterwards feels so good.
Foam rolling has many benefits and I am trying to make it a regular part of my fitness routine...not just when i am sore!
Here is an article with many links to other excellent articles on this subject.