If you are slightly sore, getting some movement into them usually makes them feel better. If you are sore to the point that you can barely walk down the stairs without making noise...that's a personal decision. (Even then, I will go for a walk or something and always wind up feeling better.)
This won't help you today, I've found that my muscles are sorest when I'm not getting enough potassium in my diet. Personally, I hate bananas (which are an excellent source of potassium) so I either turn them into smoothies or get it from another food (e.g., avacado).