In future, make sure you have warmup sets before and and cooldown set after your work sets. For example, if you normally do,
5x 100kg
5x 110kg
5x 120kg
instead have,
20x 20kg - just the bar, gradually increasing range of motion to warm and stretch the muscles
5x 50kg
5x 75kg
and then the work sets
5x 100kg
5x 110kg
5x 120kg
and finally a cooldown set
20x 20kg
After the workout's finished, try five minutes on the treadmill followed by some static stretching - stretch and hold for the major muscles used in that session. Most gyms will have posters up of stretches you can do.
Having a good warmup reduces your chance of injury, and many people find that warmup, cooldown and stretches reduce their DOMS quite a bit.