Might try doing the same exercise than cause soreness in the first place, or one closely like it.
If you did squats for legs, than do light bwt squats the next morning, one or two loose sets of 12-15 reps. More bwt sets around mid-noon, late afternoon and before bed time. The idea is to increase the blood flow, almost like a flushing action, to the leg area, bring in a fresh supply of healing blood. And allowing the toxic waste (a byproduct of the hard workout) in the muscle area to be moved out (in so many words) . The morning after that, repeat the light bwt squats during the day and evening.
Or if the chest is hit hard, the next day do very light (slight pumping action) DB benches, throughout the day and night, as suggested above. Try including moderate stretching also, with the lighter exercises and by themselves if you wish. Good Luck.