Bluntly, Yes. Soreness is not something that we should avoid. When we train we are breaking down muscles, creating these micro-tears that our body recognizes as a stressor and rebuilds to adapt to that stress. When the soreness presents and how long it lasts are dependent on training age (how much training experience you have), and the intensity of the training. The soreness may start the next day or up to 48 hours after that training session, this is a phenomenon known as Delayed Onset of Muscle Soreness (DOMS), DOMS can last up to a week, in rare instances a little longer. Performing light cardio or resistance training with the muscle group that is sore and/or applying heat can help dissipate the soreness quicker.