Your muscles get sore because of a buildup of Lactic Acid. When you are exercising, “The Burn” is your muscle strings pulling apart. This lactic acid fills in the space where your muscles were, And becomes new muscle. Massaging muscles you exercise helps to move the lactic acid around in your body and you get less sore because of this. Otherwise just keep exercising, You get use to the sensation over time and your body builds up enough muscle that it becomes familiar with the repetition, And you get less sore.